#pragma once #include #include #include #include "AP_Arming_config.h" #include "AP_InertialSensor/AP_InertialSensor_config.h" #include "AP_Proximity/AP_Proximity_config.h" class AP_Arming { public: AP_Arming(); CLASS_NO_COPY(AP_Arming); /* Do not allow copies */ static AP_Arming *get_singleton(); void update(); 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), ARMING_CHECK_OSD = (1U << 20), }; 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... LANDING = 32, // only disarm uses this... DEADRECKON_FAILSAFE = 33, // only disarm uses this... BLACKBOX = 34, DDS = 35, UNKNOWN = 100, }; 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() const; virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true); virtual bool disarm(AP_Arming::Method method, bool do_disarm_checks=true); bool is_armed() const; bool is_armed_and_safety_off() const; // 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(); } #if AP_ARMING_AUX_AUTH_ENABLED // 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); #endif static const struct AP_Param::GroupInfo var_info[]; // method that was last used for disarm; invalid unless the // vehicle has been disarmed at least once. Method last_disarm_method() const { return _last_disarm_method; } // method that was last used for arm; invalid unless the // vehicle has been disarmed at least once. Method last_arm_method() const { return _last_arm_method; } // enum for ARMING_OPTIONS parameter enum class Option : int32_t { DISABLE_PREARM_DISPLAY = (1U << 0), DISABLE_STATUSTEXT_ON_STATE_CHANGE = (1U << 1), }; bool option_enabled(Option option) const { return (_arming_options & uint32_t(option)) != 0; } void send_arm_disarm_statustext(const char *string) const; static bool method_is_GCS(Method method) { return (method == Method::MAVLINK || method == Method::DDS); } protected: // Parameters AP_Enum 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; AP_Int32 _arming_options; AP_Int16 magfield_error_threshold; // internal members bool armed; uint32_t last_accel_pass_ms; uint32_t last_gyro_pass_ms; virtual bool barometer_checks(bool report); bool airspeed_checks(bool report); bool logging_checks(bool report); #if AP_INERTIALSENSOR_ENABLED virtual bool ins_checks(bool report); #endif 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_in_calibration_check(bool report); bool rc_arm_checks(AP_Arming::Method method); bool manual_transmitter_checks(bool report); virtual bool mission_checks(bool report); bool terrain_checks(bool report) const; // expected to return true if the terrain database is required to have // all data loaded virtual bool terrain_database_required() const; bool rangefinder_checks(bool report); bool fence_checks(bool report); #if HAL_HAVE_IMU_HEATER bool heater_min_temperature_checks(bool report); #endif bool camera_checks(bool display_failure); bool osd_checks(bool display_failure) const; bool mount_checks(bool display_failure) const; #if AP_ARMING_AUX_AUTH_ENABLED bool aux_auth_checks(bool display_failure); #endif bool generator_checks(bool report) const; bool opendroneid_checks(bool display_failure); bool serial_protocol_checks(bool display_failure); bool estop_checks(bool display_failure); virtual bool system_checks(bool report); bool can_checks(bool report); bool fettec_checks(bool display_failure) const; #if HAL_PROXIMITY_ENABLED virtual bool proximity_checks(bool report) const; #endif bool servo_checks(bool report) const; bool rc_checks_copter_sub(bool display_failure, const class 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); // returns true if a particular check is enabled bool check_enabled(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(bool forced, AP_Arming::Method method); private: static AP_Arming *_singleton; #if AP_INERTIALSENSOR_ENABLED bool ins_accels_consistent(const class AP_InertialSensor &ins); bool ins_gyros_consistent(const class AP_InertialSensor &ins); #endif // check if we should keep logging after disarming void check_forced_logging(const AP_Arming::Method method); 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_RETURN_TO_LAUNCH = (1 << 6), MIS_ITEM_CHECK_MAX }; #if AP_ARMING_AUX_AUTH_ENABLED // 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 #endif // method that was last used for arm/disarm; invalid unless the // vehicle has been disarmed at least once. Method _last_disarm_method = Method::UNKNOWN; Method _last_arm_method = Method::UNKNOWN; uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle bool last_prearm_checks_result; // result of last prearm check bool report_immediately; // set to true when check goes from true to false, to trigger immediate report void update_arm_gpio(); }; namespace AP { AP_Arming &arming(); };