#pragma once #include #include #include #include class AP_Arming { public: AP_Arming(); /* Do not allow copies */ AP_Arming(const AP_Arming &other) = delete; AP_Arming &operator=(const AP_Arming&) = delete; static AP_Arming *get_singleton(); enum ArmingChecks { ARMING_CHECK_ALL = (1U << 0), ARMING_CHECK_BARO = (1U << 1), ARMING_CHECK_COMPASS = (1U << 2), ARMING_CHECK_GPS = (1U << 3), ARMING_CHECK_INS = (1U << 4), ARMING_CHECK_PARAMETERS = (1U << 5), ARMING_CHECK_RC = (1U << 6), ARMING_CHECK_VOLTAGE = (1U << 7), ARMING_CHECK_BATTERY = (1U << 8), ARMING_CHECK_AIRSPEED = (1U << 9), ARMING_CHECK_LOGGING = (1U << 10), ARMING_CHECK_SWITCH = (1U << 11), ARMING_CHECK_GPS_CONFIG = (1U << 12), ARMING_CHECK_SYSTEM = (1U << 13), ARMING_CHECK_MISSION = (1U << 14), ARMING_CHECK_RANGEFINDER = (1U << 15), ARMING_CHECK_CAMERA = (1U << 16), ARMING_CHECK_AUX_AUTH = (1U << 17), ARMING_CHECK_VISION = (1U << 18), ARMING_CHECK_FFT = (1U << 19), }; enum class Method { RUDDER = 0, MAVLINK = 1, AUXSWITCH = 2, MOTORTEST = 3, SCRIPTING = 4, TERMINATION = 5, // only disarm uses this... CPUFAILSAFE = 6, // only disarm uses this... BATTERYFAILSAFE = 7, // only disarm uses this... SOLOPAUSEWHENLANDED = 8, // only disarm uses this... AFS = 9, // only disarm uses this... ADSBCOLLISIONACTION = 10, // only disarm uses this... PARACHUTE_RELEASE = 11, // only disarm uses this... CRASH = 12, // only disarm uses this... LANDED = 13, // only disarm uses this... MISSIONEXIT = 14, // only disarm uses this... FENCEBREACH = 15, // only disarm uses this... RADIOFAILSAFE = 16, // only disarm uses this... DISARMDELAY = 17, // only disarm uses this... GCSFAILSAFE = 18, // only disarm uses this... TERRRAINFAILSAFE = 19, // only disarm uses this... FAILSAFE_ACTION_TERMINATE = 20, // only disarm uses this... TERRAINFAILSAFE = 21, // only disarm uses this... MOTORDETECTDONE = 22, // only disarm uses this... BADFLOWOFCONTROL = 23, // only disarm uses this... EKFFAILSAFE = 24, // only disarm uses this... GCS_FAILSAFE_SURFACEFAILED = 25, // only disarm uses this... GCS_FAILSAFE_HOLDFAILED = 26, // only disarm uses this... TAKEOFFTIMEOUT = 27, // only disarm uses this... AUTOLANDED = 28, // only disarm uses this... PILOT_INPUT_FAILSAFE = 29, // only disarm uses this... TOYMODELANDTHROTTLE = 30, // only disarm uses this... TOYMODELANDFORCE = 31, // only disarm uses this... }; enum class Required { NO = 0, YES_MIN_PWM = 1, YES_ZERO_PWM = 2 }; void init(void); // these functions should not be used by Copter which holds the armed state in the motors library Required arming_required(); virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true); virtual bool disarm(AP_Arming::Method method); bool is_armed(); // get bitmask of enabled checks uint32_t get_enabled_checks() const; // pre_arm_checks() is virtual so it can be modified in a vehicle specific subclass virtual bool pre_arm_checks(bool report); // some arming checks have side-effects, or require some form of state // change to have occurred, and thus should not be done as pre-arm // checks. Those go here: virtual bool arm_checks(AP_Arming::Method method); // get expected magnetic field strength uint16_t compass_magfield_expected() const; // rudder arming support enum class RudderArming { IS_DISABLED = 0, // DISABLED leaks in from vehicle defines.h ARMONLY = 1, ARMDISARM = 2 }; RudderArming get_rudder_arming_type() const { return (RudderArming)_rudder_arming.get(); } // auxiliary authorisation methods bool get_aux_auth_id(uint8_t& auth_id); void set_aux_auth_passed(uint8_t auth_id); void set_aux_auth_failed(uint8_t auth_id, const char* fail_msg); static const struct AP_Param::GroupInfo var_info[]; protected: // Parameters AP_Int8 require; AP_Int32 checks_to_perform; // bitmask for which checks are required AP_Float accel_error_threshold; AP_Int8 _rudder_arming; AP_Int32 _required_mission_items; // internal members bool armed; uint32_t last_accel_pass_ms[INS_MAX_INSTANCES]; uint32_t last_gyro_pass_ms[INS_MAX_INSTANCES]; virtual bool barometer_checks(bool report); bool airspeed_checks(bool report); bool logging_checks(bool report); virtual bool ins_checks(bool report); virtual bool compass_checks(bool report); virtual bool gps_checks(bool report); bool battery_checks(bool report); bool hardware_safety_check(bool report); virtual bool board_voltage_checks(bool report); virtual bool rc_calibration_checks(bool report); bool rc_arm_checks(AP_Arming::Method method); bool manual_transmitter_checks(bool report); bool mission_checks(bool report); bool rangefinder_checks(bool report); bool fence_checks(bool report); bool camera_checks(bool display_failure); bool aux_auth_checks(bool display_failure); bool generator_checks(bool report) const; virtual bool system_checks(bool report); bool can_checks(bool report); virtual bool proximity_checks(bool report) const; bool servo_checks(bool report) const; bool rc_checks_copter_sub(bool display_failure, const RC_Channel *channels[4]) const; bool visodom_checks(bool report) const; bool disarm_switch_checks(bool report) const; // mandatory checks that cannot be bypassed. This function will only be called if ARMING_CHECK is zero or arming forced virtual bool mandatory_checks(bool report) { return true; } // returns true if a particular check is enabled bool check_enabled(const enum AP_Arming::ArmingChecks check) const; // returns a mavlink severity which should be used if a specific check fails MAV_SEVERITY check_severity(const enum AP_Arming::ArmingChecks check) const; // handle the case where a check fails void check_failed(const enum AP_Arming::ArmingChecks check, bool report, const char *fmt, ...) const FMT_PRINTF(4, 5); void check_failed(bool report, const char *fmt, ...) const FMT_PRINTF(3, 4); void Log_Write_Arm(bool forced, AP_Arming::Method method); void Log_Write_Disarm(AP_Arming::Method method); private: static AP_Arming *_singleton; bool ins_accels_consistent(const AP_InertialSensor &ins); bool ins_gyros_consistent(const AP_InertialSensor &ins); enum MIS_ITEM_CHECK { MIS_ITEM_CHECK_LAND = (1 << 0), MIS_ITEM_CHECK_VTOL_LAND = (1 << 1), MIS_ITEM_CHECK_DO_LAND_START = (1 << 2), MIS_ITEM_CHECK_TAKEOFF = (1 << 3), MIS_ITEM_CHECK_VTOL_TAKEOFF = (1 << 4), MIS_ITEM_CHECK_RALLY = (1 << 5), MIS_ITEM_CHECK_MAX }; // auxiliary authorisation static const uint8_t aux_auth_count_max = 3; // maximum number of auxiliary authorisers static const uint8_t aux_auth_str_len = 42; // maximum length of failure message (50-8 for "PreArm: ") enum class AuxAuthStates : uint8_t { NO_RESPONSE = 0, AUTH_FAILED, AUTH_PASSED } aux_auth_state[aux_auth_count_max] = {}; // state of each auxiliary authorisation uint8_t aux_auth_count; // number of auxiliary authorisers uint8_t aux_auth_fail_msg_source; // authorisation id who set aux_auth_fail_msg char* aux_auth_fail_msg; // buffer for holding failure messages bool aux_auth_error; // true if too many auxiliary authorisers HAL_Semaphore aux_auth_sem; // semaphore for accessing the aux_auth_state and aux_auth_fail_msg }; namespace AP { AP_Arming &arming(); };