mirror of https://github.com/ArduPilot/ardupilot
64 lines
2.1 KiB
C++
64 lines
2.1 KiB
C++
#pragma once
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#include <AP_Arming/AP_Arming.h>
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class AP_Arming_Copter : public AP_Arming
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{
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public:
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friend class Copter;
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friend class ToyMode;
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AP_Arming_Copter() : AP_Arming()
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{
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// default REQUIRE parameter to 1 (Copter does not have an
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// actual ARMING_REQUIRE parameter)
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require.set_default((uint8_t)Required::YES_MIN_PWM);
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}
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Arming_Copter);
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bool rc_calibration_checks(bool display_failure) override;
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bool disarm(AP_Arming::Method method, bool do_disarm_checks=true) override;
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bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
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protected:
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bool pre_arm_checks(bool display_failure) override;
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bool pre_arm_ekf_attitude_check();
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bool proximity_checks(bool display_failure) const override;
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bool arm_checks(AP_Arming::Method method) override;
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// mandatory checks that cannot be bypassed. This function will only be called if ARMING_CHECK is zero or arming forced
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bool mandatory_checks(bool display_failure) override;
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// NOTE! the following check functions *DO* call into AP_Arming:
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bool ins_checks(bool display_failure) override;
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bool gps_checks(bool display_failure) override;
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bool barometer_checks(bool display_failure) override;
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bool board_voltage_checks(bool display_failure) override;
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// NOTE! the following check functions *DO NOT* call into AP_Arming!
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bool parameter_checks(bool display_failure);
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bool oa_checks(bool display_failure);
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bool mandatory_gps_checks(bool display_failure);
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bool gcs_failsafe_check(bool display_failure);
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bool winch_checks(bool display_failure) const;
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bool alt_checks(bool display_failure);
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bool rc_throttle_failsafe_checks(bool display_failure) const;
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void set_pre_arm_check(bool b);
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// expected to return true if the terrain database is required to have
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// all data loaded
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bool terrain_database_required() const override;
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private:
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// actually contains the pre-arm checks. This is wrapped so that
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// we can store away success/failure of the checks.
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bool run_pre_arm_checks(bool display_failure);
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};
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