mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.4 KiB
C++
89 lines
2.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#ifndef __AP_ARMING_H__
|
|
#define __AP_ARMING_H__
|
|
|
|
#include <AP_AHRS.h>
|
|
#include <AP_HAL.h>
|
|
#include <AP_Param.h>
|
|
#include <GCS_MAVLink.h>
|
|
|
|
class AP_Arming {
|
|
public:
|
|
enum ArmingChecks {
|
|
ARMING_CHECK_NONE = 0x0000,
|
|
ARMING_CHECK_ALL = 0x0001,
|
|
ARMING_CHECK_BARO = 0x0002,
|
|
ARMING_CHECK_COMPASS = 0x0004,
|
|
ARMING_CHECK_GPS = 0x0008,
|
|
ARMING_CHECK_INS = 0x0010,
|
|
ARMING_CHECK_PARAMETERS = 0x0020,
|
|
ARMING_CHECK_RC = 0x0040,
|
|
ARMING_CHECK_VOLTAGE = 0x0080,
|
|
ARMING_CHECK_BATTERY = 0x0100,
|
|
};
|
|
|
|
enum ArmingMethod {
|
|
NONE = 0,
|
|
RUDDER,
|
|
MAVLINK
|
|
};
|
|
|
|
enum ArmingRequired {
|
|
NO = 0,
|
|
YES_MIN_PWM = 1,
|
|
YES_ZERO_PWM = 2
|
|
};
|
|
|
|
//for the hacky funciton pointer to gcs_send_text_p
|
|
typedef void (*gcs_send_t_p)(gcs_severity, const prog_char_t*);
|
|
|
|
AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro,
|
|
const bool &home_set, gcs_send_t_p);
|
|
|
|
ArmingRequired arming_required();
|
|
bool arm(uint8_t method);
|
|
bool disarm();
|
|
bool is_armed();
|
|
bool rudder_arming_enabled();
|
|
uint16_t get_enabled_checks();
|
|
|
|
bool pre_arm_checks(bool report);
|
|
|
|
//for params
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
private:
|
|
bool armed;
|
|
|
|
//Parameters
|
|
AP_Int8 require;
|
|
AP_Int8 disable_rudder_arm;
|
|
//bitmask for which checks are required
|
|
AP_Int16 checks_to_perform;
|
|
|
|
//how the vehicle was armed
|
|
uint8_t arming_method;
|
|
|
|
const AP_AHRS &ahrs;
|
|
const AP_Baro &barometer;
|
|
const bool &home_is_set;
|
|
gcs_send_t_p gcs_send_text_P;
|
|
|
|
void set_enabled_checks(uint16_t);
|
|
|
|
bool barometer_checks(bool report);
|
|
|
|
bool compass_checks(bool report);
|
|
|
|
bool gps_checks(bool report);
|
|
|
|
bool battery_checks(bool report);
|
|
|
|
bool hardware_safety_check(bool report);
|
|
|
|
bool manual_transmitter_checks(bool report);
|
|
};
|
|
|
|
#endif //__AP_ARMING_H__
|