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338 Commits

Author SHA1 Message Date
Peter Barker
8fd50dd66e AP_Arming: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos' 2020-06-12 08:11:46 +10:00
mmk0102
22d052b711 AP_Arming: check for duplicate auxswitch options 2020-06-02 09:43:31 +10:00
Andy Piper
fab8168f5c AP_Arming: allow FFT to report failure reason. allow FFT check to be disabled. 
document FFT arming check and make sure the appropriate side effect happens regardless
 2020-05-24 07:43:34 +10:00
Peter Barker
70a9abfaff AP_InternalError: emit stringification of internal errors 2020-05-06 13:23:15 +10:00
Peter Barker
75514dfdfe AP_Arming: emit stringification of internal errors 2020-05-06 13:23:15 +10:00
Peter Barker
b38d2c6194 AP_Arming: regularise CAN pre-arm failure messages 
AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
 2020-05-05 11:27:53 +10:00
Tatsuya Yamaguchi
de854a2ffe AP_Arming: pre-arm check for disarm aux switch 2020-05-05 10:09:30 +09:00
Peter Barker
119eef9954 AP_Arming: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Tatsuya Yamaguchi
c4fe6fce1c AP_Arming: make RC check message clearer 2020-04-24 10:52:33 +09:00
murata
2af70f5e60 AP_Arming: Display mag field value 2020-04-21 10:51:48 +09:00
Randy Mackay
1b1687f43d AP_Arming: integrate visual odometry pre_arm_check 2020-04-09 19:41:08 +09:00
Michael du Breuil
73c5c2e1bb AP_Arming: Check that sticks are neutral 2020-04-07 14:01:12 -07:00
Siddharth Purohit
575ac9224e AP_Arming: fix error unannotated fall-through between switch labels 2020-04-01 17:10:36 +11:00
Peter Barker
a32e54ea17 AP_Arming: correct toymode compilation for recent disarm-reason changes 2020-03-03 21:56:33 +09:00
Randy Mackay
05a8e34d5c AP_Arming: support auxiliary authorisation 2020-02-25 19:55:54 +09:00
Randy Mackay
df8bf27a7f AP_Arming: get_enabled_checks returns uint32_t 2020-02-25 19:55:54 +09:00
Peter Barker
4d0c61970d ArduSub: log disarm method 2020-02-22 12:16:29 +11:00
Peter Barker
7b9cdd6d06 AP_Arming: log disarm method 2020-02-22 12:16:29 +11:00
Andy Piper
7663c67eec AP_Arming: gyrofft arming checks 2020-02-22 11:15:37 +11:00
Siddharth Purohit
7da331535c AP_Arming: add arming message for compass not detected but assigned 2020-02-19 13:59:53 +09:00
Siddharth Purohit
653fad44d4 AP_Arming: Primary Compass is always at serial# 0 2020-02-19 13:59:53 +09:00
Peter Barker
62c0078d5f AP_Arming: move logging of armed/disarm events into AP_Arming base class 2020-01-14 11:39:36 +11:00
Peter Barker
3b8a2fb262 AP_Arming: log arming 2020-01-14 11:39:36 +11:00
Andy Piper
c16c60a761 AP_Arming: add camera arming checks 2019-12-30 13:02:04 +11:00
Oliver Walters
2e0d2e2db0 AP_Arming: added support for Piccolo CAN ESCs 2019-12-22 09:48:40 +11:00
Peter Barker
b3f87768e2 AP_Arming: tpyo fix in parameter documentation 2019-12-05 12:17:06 +08:00
Randy Mackay
356ece6682 AP_Arming: add pre-arm system check that scripting init succeeded 2019-12-03 12:48:32 +08:00
Randy Mackay
4bcf66481f AP_Arming: add mandatory_checks 
These are checks that can never be bypassed
 2019-12-03 08:06:39 +08:00
Randy Mackay
f71e55e368 AP_Arming: add mission and rangefinder to param desc 2019-11-19 10:16:25 +11:00
Randy Mackay
b796ac93f0 AP_Arming: add terrain init check to system checks 2019-11-19 10:16:25 +11:00
Peter Barker
64281eee60 AC_Arming: adjust for proximity status namespace change 2019-10-31 11:58:15 +08:00
Peter Barker
f4433773be AP_Arming: adjust for rename of AP_UAVCAN_Server to AP_UAVCAN_DNA_Server 2019-10-25 20:24:54 +11:00
Siddharth Purohit
9b2c060cc5 AP_Arming: add support for reporting UAVCAN Server errors 2019-10-19 09:55:38 +11:00
Peter Barker
5428d13502 AP_Arming: remove bogus ARMING_CHECK_NONE 'bitmask value' 
This looks like a bitmask value, but if you treat it like one (and
people have in the past!) by using logical operations then you get the
incorrect result.

Places which were checking for equivalence to ARMING_CHECK_NONE now
simply check the bitmask to see if it is all-empty.
 2019-10-08 10:31:07 +11:00
Michael du Breuil
d8bce8295e AP_Arming: Directly include needed headers 2019-08-28 13:13:03 +10:00
Randy Mackay
2bfc26621a AP_Arming: resolve check_failed compiler warning 2019-08-08 12:53:51 +09:00
Peter Barker
95b8c12454 AP_Arming: mark check_failed as taking a format string 2019-08-05 14:18:05 +10:00
Michael du Breuil
4396540a22 AP_Arming: Add rangefinder checks 2019-07-30 10:42:16 +10:00
Michael du Breuil
4b2cb45ac0 AP_Arming: Cope with new AP_GPS::first_unconfigured_gps 2019-07-30 10:12:43 +10:00
Michael du Breuil
5d3cfcb59c AP_Arming: Add scripting method 2019-07-23 10:05:29 +09:00
Peter Barker
bca411b2c4 AP_Arming: reduce length of internal errors errorstring prefix 
MissionPlanner's HUD requires a short string for this to be useful
 2019-07-12 18:39:06 +10:00
Peter Barker
84eff51539 AP_Arming: remove stray comment on removed parameter 
Almost certainly a rebase issue
 2019-07-02 10:03:41 +10:00
Michael du Breuil
eeca59d1ef AP_Arming: Include needed AP_Baro.h 2019-06-27 14:56:21 +10:00
Andrew Tridgell
8fc8bc4d84 AP_Arming: notify logging system of an arming failure 2019-06-21 11:40:53 +10:00
Michael du Breuil
c70107cabb AP_Arming: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Peter Barker
bb14ec1a2c AP_Arming: make proximity sensor checks common 2019-06-04 08:45:34 +09:00
Peter Barker
1c4b5b0d73 AP_Arming: move arm status statustext messages back into vehicles 
Not all vehicle maintainers like having these emitted as part of normal
operations.
 2019-05-30 07:37:30 +09:00
Peter Barker
61a2be1470 AP_Arming: change arm and disarm to account for Copter now using them 2019-05-30 07:37:30 +09:00
Peter Barker
84b16ea3dd AP_Arming: move check for ARMING_CHECK_NONE back into relevant vehicles 
Plane and Rover allow all prearm and arm checks to be bypassed with
ARMING_CHECK_NONE.  Not all vehicles allow this, so move this bypass
back into Plane and Rover.
 2019-05-30 07:37:30 +09:00
Peter Barker
aff6cb424f AP_Arming: move Log_Write_Arm_Disarm in, make disarm virtual 2019-05-30 07:37:30 +09:00
Peter Barker
d384827291 AP_Arming: add singleton 2019-05-30 07:37:30 +09:00
Peter Barker
776c111d3c AP_Arming: do not permit arming if any internal errors have occured 2019-04-25 13:05:18 +10:00
Peter Barker
45ebbf2877 AP_Arming: correct check against ARMING_CHECK_NONE 
As opposed to all of the other ARMING_CHECK values this one isn't
actually a mask
 2019-04-25 13:05:18 +10:00
Andrew Tridgell
9c6c4101c9 AP_Arming: make arm_checks() virtual 
# Conflicts:
#	libraries/AP_Arming/AP_Arming.h
 2019-04-22 16:53:35 +10:00
Pierre Kancir
6397cb0c0e AP_Arming: use get_distance instead of location_diff 2019-04-08 08:00:52 -07:00
Michael du Breuil
63fcd23f7b AP_Arming: Include AP_Logger directly 2019-04-05 20:12:53 +11:00
Tom Pittenger
4178ef98ba AP_Arming: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker
0dacf78c12 AP_Arming: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Peter Barker
7bdd2eb755 AP_Arming: move checking of fence up 2019-03-08 08:57:27 +09:00
Peter Barker
12981b1f07 AP_Arming: correct use of failure messages as format strings 
This is important as if the returned string happens to contain
substitutions (%s in particular), we can attempt to pull random data
off the stack and incorporate it in the string.

This sort of bug is rather famous for serious explots in sendmail.

This could be bad if your stack is relatively full and the memory after
it is inaccessible.
 2019-03-07 14:44:26 +11:00
Randy Mackay
26fd334882 AP_Arming: provide better feedback on attitude check 2019-03-07 09:34:39 +09:00
Randy Mackay
b805c40bf7 AP_Arming: add ahrs attitude check 2019-02-22 13:00:07 +09:00
Randy Mackay
72fabb5cd3 AP_Arming: always run compass calibration checks 2019-02-22 13:00:07 +09:00
Tom Pittenger
13f0ad8a1c AP_Arming: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Nigel Williams
b2c5d7f04a AP_Arming: Make logging check consider "turned off" as valid 
When ARMING_CHECKS has ARMING_CHECK_LOGGING, consider having no
logging backend to be valid.
 2019-01-30 19:12:01 +11:00
Michael du Breuil
1b2b7385a2 AP_Arming: Reduce header scope, remove width specifier 2019-01-25 09:47:17 +09:00
Peter Barker
6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Francisco Ferreira
de1d02d697
AP_Arming: support KDECAN 2019-01-18 00:57:33 +00:00
Michael du Breuil
c4ff1f4307 AP_Arming: Allow disarming to force the safety switch 2019-01-15 08:59:25 +11:00
Pierre Kancir
1bd9b61bf6 AP_Arming: const correctness 2019-01-11 08:38:53 +09:00
Pierre Kancir
dd2798d099 AP_Arming: remove unused parameter and variable 2019-01-11 08:38:53 +09:00
Pierre Kancir
0800f72377 AP_Arming: untangle header inclusion 2019-01-11 08:38:53 +09:00
Michael du Breuil
c3de3cc923 AP_Arming: Add checks that the mission contains expected items 2019-01-08 10:39:50 +11:00
Michael du Breuil
ad01d345d1 AP_Arming: Fix badly formatter airspeed message 2018-12-18 10:11:22 +11:00
Randy Mackay
e702ca7202 AP_Arming: resolve compiler warning 2018-11-14 20:40:46 +09:00
Michael du Breuil
e56f12b68e AP_Arming: Add servo voltage check, paramertise the Vcc check 2018-11-12 23:29:04 +00:00
Andrew Tridgell
8d5b9521ad AP_Arming: added IOMCU health check 2018-11-07 07:35:45 +11:00
Peter Barker
21eacc5e31 AP_Arming: account for snprintf now null-terminating strings 2018-10-21 07:54:30 +11:00
Andrew Tridgell
b1928d959b AP_Arming: fixed build warnings 2018-10-17 12:54:22 +11:00
Michael du Breuil
a8741f62f9 AP_Arming: Use AP_BattMonitor's arming checks for the battery 2018-10-09 00:44:46 +01:00
Randy Mackay
7a7533724a AP_Arming: rename rudder_arming to get_rudder_arming_type 2018-09-11 19:34:39 +10:00
Randy Mackay
f039c6d5f4 AP_Arming: minor format fix 2018-09-11 19:34:39 +10:00
Randy Mackay
ba2b9f3d47 AP_Arming: add RUDDER parameter 2018-09-11 19:34:39 +10:00
Peter Barker
f258a25138 AP_Arming: remove double PreArm: in battery prearm report 
Also use check_failed throughout
 2018-08-27 11:12:52 +09:00
Francisco Ferreira
62a4f08e12 AP_Arming: fix system check 2018-08-14 10:17:38 +10:00
Peter Barker
eaefdcfac2 AP_Arming: remove min-max-configured pre-arm checks 2018-08-07 09:45:09 +10:00
Peter Barker
1eacd685e3 AP_Arming: use rc() method to get rc singleton 2018-08-01 12:11:30 +09:00
Andrew Tridgell
787493277e AP_Arming: only check trim on valid channel count 2018-07-24 19:44:03 +10:00
Andrew Tridgell
9ca2c11333 AP_Arming: use check_enabled() in storage check 2018-07-10 15:41:44 +10:00
Andrew Tridgell
bf1bca6820 AP_Arming: added arming check for storage health 2018-07-10 15:41:44 +10:00
Peter Barker
e400a0e351 AP_Arming: use ArmingMethod enumeration 2018-07-03 15:16:38 +10:00
Peter Barker
6979f0d3a0 AP_Arming: remove unused arming_method member 2018-07-03 15:16:38 +10:00
Peter Barker
598f82a2fe AP_Arming: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
Peter Barker
5d1d435451 AP_Arming: add type-correctness for is-armed check 
Also, correct the constant we're testing against
 2018-06-28 12:48:31 +10:00
Peter Barker
72d7181e0d AP_Arming: remove pointless initialisations 
These are part of a static object
 2018-06-28 12:48:31 +10:00
Peter Barker
e3dc408295 AP_Arming: move copter-specific code into Copter subclass 2018-06-28 12:48:31 +10:00
Michael du Breuil
d977ca091a AP_Arming: Correct an edge case that would not run compass checks 2018-06-26 09:26:29 +10:00
Peter Barker
cba61598b1 AP_Arming: a check_failed function 2018-06-23 15:33:19 +10:00
Peter Barker
997a527c1b AP_Arming: cache results of get_gyro_count and get_accel_count 2018-06-21 16:25:29 +01:00
Peter Barker
4055256878 AP_Arming: cache AP_HAL_millis 2018-06-21 16:25:29 +01:00
Peter Barker
410e72f83c AP_Arming: break out a gyros-consistent method 2018-06-21 16:25:29 +01:00
Peter Barker
d2b8ea4bb0 AP_Arming: break out an accels-consistent method 2018-06-21 16:25:29 +01:00
Peter Barker
d8128ba69a AP_Arming: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
Michael du Breuil
81e453dee3 AP_Arming: Restrict GPS/AHRS difference to a 2D solution 2018-05-12 09:11:05 +09:00
Michael du Breuil
7830dab0a8 AP_Arming: Add a servo check that (<= min trim max) for all channels 2018-04-24 01:16:26 +01:00
Michael du Breuil
1b18a78d1d AP_Arming: Add a RC check that (<= min trim max) for all channels 2018-04-24 01:16:26 +01:00
Jacob Walser
2212532028 AP_Arming: Clarify/bring commonality to RC Channels check description 2018-04-12 14:20:49 +09:00
Jacob Walser
409ff66231 AP_Arming: correct parameter description 2018-04-12 14:20:49 +09:00
Peter Barker
cc5af90d1a AP_Arming: home state has moved to AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker
f0d06e7a9c AP_Arming: use ins singleton 2018-03-16 00:37:35 -07:00
Peter Barker
8d8f2208c0 AP_Arming: use baro singleton 2018-03-08 21:20:05 -08:00
Andrew Tridgell
8bb0ad7f3a AP_Arming: check all airspeed sensors are healthy 2018-01-16 07:14:20 +11:00
Peter Barker
738377c089 AP_Arming: remove airspeed arming check bits from non-plane vehicles 2017-12-16 11:08:35 +11:00
Peter Barker
a8aa6a7822 AP_Arming: use gps singleton 2017-11-15 13:43:03 +00:00
Peter Barker
25a0e6378e AP_Arming: manual transmitter checks call rc calibration checks 2017-11-08 19:07:57 +09:00
Peter Barker
49dd5f4f80 Copter: prearm board voltage checks are called in parent class 2017-11-08 19:07:53 +09:00
Peter Barker
30c1a040d7 Copter: prearm baro checks are called in parent class 2017-11-08 19:07:44 +09:00
Michael du Breuil
ef0b52e017 AP_Arming: Run extra GPS checks when arming 2017-11-06 01:33:57 +00:00
John deVere
951c947bec AP_Arming: update param description for VOLT_MIN 2017-10-30 09:46:51 +09:00
Lucas De Marchi
39aee74b29 AP_Arming: make constructor protected 2017-09-26 03:01:21 +01:00
Randy Mackay
f029303d96 AP_Arming: check ahrs and gps differ by less than 10m 2017-09-19 10:30:15 +09:00
Michael du Breuil
bde1b6e886 AP_Arming: Collapse GPS checks into the same branch 2017-09-13 13:36:40 +01:00
Michael du Breuil
3ab9b75df0 AP_Arming: Check GPS update rate as part of the GPS checks 2017-09-13 13:36:40 +01:00
Jacob Walser
b8e7d23cc4 AP_Arming: Add bool check_min_max parameter for Copter/Sub RC checks 2017-08-16 11:37:46 -04:00
Peter Barker
7173025b43 AP_Arming: warn about uncalibrated throttle but do not fail check 
We can tighten this check up later, and will allow us to use
this common function for Plane and Rover in the future
 2017-08-14 15:32:25 +09:00
Peter Barker
b2459c67d5 AP_Arming: move Copter RC checking code into library 2017-08-14 15:32:25 +09:00
Randy Mackay
f5f6ec5238 AP_Arming: rename _MIN_VOLT to _VOLT_MIN 
Also _MIN_VOLT2 to _VOLT2_MIN
 2017-07-31 17:19:55 +09:00
Randy Mackay
2f3a57e0aa AP_Arming: minor variable type change 
no functional change
 2017-07-31 17:19:55 +09:00
Randy Mackay
330a6065ca AP_Arming: Copter gets MIN_VOLT parameters 2017-07-31 17:19:55 +09:00
Michael du Breuil
126296b61d AP_Arming: Compass calibration running is a pre arm failure, rather then an arming failure 2017-07-21 13:38:50 +09:00
Peter Barker
954eda990a AP_Arming: prepare log for arming and check it is ready 
Also add comment that this should be the last check to be made
 2017-07-19 16:37:28 +01:00
Peter Barker
999a5e6cda AP_Arming: correct bit used to indicate blended-gps-checking 2017-07-19 16:34:57 +01:00
Peter Barker
b8ddf8a289 AP_Arming: use HAL_HAVE_BOARD_VOLTAGE rather than magic-0 2017-07-19 16:34:57 +01:00
Peter Barker
9e76223c34 AP_Arming: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
9941e910ee AP_Arming: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
95b09bc19e AP_Arming: fix a spell error in a parameter description 
fix { indentation
 2017-05-16 20:29:16 +09:00
Andrew Tridgell
fafd940dd5 AP_Arming: use compass get_offsets_max() 2017-04-04 00:49:34 +01:00
Randy Mackay
69925d8b27 AP_Arming: shorten Accels failure message 
This allow the message to fit on the MP HUD
 2017-03-25 10:50:58 +09:00
Randy Mackay
f340c118d4 AP_Arming: GPS blending health check renamed 2017-03-13 11:31:51 +11:00
Randy Mackay
4f0333892d AP_Arming: clarify GPS inconsistency message 2017-03-13 11:31:51 +11:00
Randy Mackay
e398bb5c68 AP_Arming: make gps-checks virtual 
Copter's GPS checks will override this
 2017-03-13 11:31:51 +11:00
Randy Mackay
9f21649dc0 AP_Arming: add gps consistency and blend health check 2017-03-13 11:31:51 +11:00
Michael du Breuil
be1fd147fc Arming: Remove the SITL protection around GPS configuration, and rely upon the GPS library instead 2017-03-07 12:43:30 +11:00
Michael du Breuil
794f7a969e AP_Arming: Fix up ARMING_REQUIRE param documentation to try and be less confusing 2017-02-15 07:22:11 +11:00
Andrew Tridgell
4626b3a269 AP_Arming: mark ARMING_REQUIRE as plane and rover only 2017-02-14 19:50:01 +11:00
Randy Mackay
d35a208dae AP_Arming: remove unused set_enabled_checks 2017-01-17 11:45:08 +09:00
Randy Mackay
34a850e1a5 AP_Arming: formatting and comment fixes 
No functional change
 2017-01-17 11:45:08 +09:00
Randy Mackay
593f035c53 AP_Arming: remove required, min-volt, min-volt2 params from Copter 2017-01-17 11:45:08 +09:00
Randy Mackay
5be3d14648 AP_Arming: rudder_arming moved to AP_Arming_Plane 2017-01-17 11:45:08 +09:00