mirror of https://github.com/ArduPilot/ardupilot
316 lines
11 KiB
C++
316 lines
11 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_HAL/Semaphores.h>
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#include <AP_Param/AP_Param.h>
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#include "AP_Arming_config.h"
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#include "AP_InertialSensor/AP_InertialSensor_config.h"
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class AP_Arming {
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public:
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AP_Arming();
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CLASS_NO_COPY(AP_Arming); /* Do not allow copies */
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static AP_Arming *get_singleton();
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void update();
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enum ArmingChecks {
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ARMING_CHECK_ALL = (1U << 0),
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ARMING_CHECK_BARO = (1U << 1),
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ARMING_CHECK_COMPASS = (1U << 2),
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ARMING_CHECK_GPS = (1U << 3),
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ARMING_CHECK_INS = (1U << 4),
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ARMING_CHECK_PARAMETERS = (1U << 5),
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ARMING_CHECK_RC = (1U << 6),
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ARMING_CHECK_VOLTAGE = (1U << 7),
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ARMING_CHECK_BATTERY = (1U << 8),
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ARMING_CHECK_AIRSPEED = (1U << 9),
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ARMING_CHECK_LOGGING = (1U << 10),
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ARMING_CHECK_SWITCH = (1U << 11),
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ARMING_CHECK_GPS_CONFIG = (1U << 12),
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ARMING_CHECK_SYSTEM = (1U << 13),
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ARMING_CHECK_MISSION = (1U << 14),
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ARMING_CHECK_RANGEFINDER = (1U << 15),
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ARMING_CHECK_CAMERA = (1U << 16),
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ARMING_CHECK_AUX_AUTH = (1U << 17),
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ARMING_CHECK_VISION = (1U << 18),
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ARMING_CHECK_FFT = (1U << 19),
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ARMING_CHECK_OSD = (1U << 20),
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};
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enum class Method {
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RUDDER = 0,
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MAVLINK = 1,
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AUXSWITCH = 2,
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MOTORTEST = 3,
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SCRIPTING = 4,
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TERMINATION = 5, // only disarm uses this...
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CPUFAILSAFE = 6, // only disarm uses this...
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BATTERYFAILSAFE = 7, // only disarm uses this...
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SOLOPAUSEWHENLANDED = 8, // only disarm uses this...
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AFS = 9, // only disarm uses this...
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ADSBCOLLISIONACTION = 10, // only disarm uses this...
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PARACHUTE_RELEASE = 11, // only disarm uses this...
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CRASH = 12, // only disarm uses this...
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LANDED = 13, // only disarm uses this...
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MISSIONEXIT = 14, // only disarm uses this...
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FENCEBREACH = 15, // only disarm uses this...
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RADIOFAILSAFE = 16, // only disarm uses this...
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DISARMDELAY = 17, // only disarm uses this...
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GCSFAILSAFE = 18, // only disarm uses this...
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TERRRAINFAILSAFE = 19, // only disarm uses this...
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FAILSAFE_ACTION_TERMINATE = 20, // only disarm uses this...
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TERRAINFAILSAFE = 21, // only disarm uses this...
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MOTORDETECTDONE = 22, // only disarm uses this...
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BADFLOWOFCONTROL = 23, // only disarm uses this...
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EKFFAILSAFE = 24, // only disarm uses this...
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GCS_FAILSAFE_SURFACEFAILED = 25, // only disarm uses this...
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GCS_FAILSAFE_HOLDFAILED = 26, // only disarm uses this...
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TAKEOFFTIMEOUT = 27, // only disarm uses this...
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AUTOLANDED = 28, // only disarm uses this...
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PILOT_INPUT_FAILSAFE = 29, // only disarm uses this...
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TOYMODELANDTHROTTLE = 30, // only disarm uses this...
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TOYMODELANDFORCE = 31, // only disarm uses this...
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LANDING = 32, // only disarm uses this...
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DEADRECKON_FAILSAFE = 33, // only disarm uses this...
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BLACKBOX = 34,
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DDS = 35,
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UNKNOWN = 100,
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};
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enum class Required {
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NO = 0,
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YES_MIN_PWM = 1,
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YES_ZERO_PWM = 2
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};
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void init(void);
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// these functions should not be used by Copter which holds the armed state in the motors library
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Required arming_required() const;
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virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true);
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virtual bool disarm(AP_Arming::Method method, bool do_disarm_checks=true);
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bool is_armed() const;
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bool is_armed_and_safety_off() const;
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// get bitmask of enabled checks
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uint32_t get_enabled_checks() const;
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// pre_arm_checks() is virtual so it can be modified in a vehicle specific subclass
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virtual bool pre_arm_checks(bool report);
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// some arming checks have side-effects, or require some form of state
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// change to have occurred, and thus should not be done as pre-arm
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// checks. Those go here:
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virtual bool arm_checks(AP_Arming::Method method);
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// get expected magnetic field strength
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uint16_t compass_magfield_expected() const;
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// rudder arming support
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enum class RudderArming {
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IS_DISABLED = 0, // DISABLED leaks in from vehicle defines.h
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ARMONLY = 1,
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ARMDISARM = 2
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};
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RudderArming get_rudder_arming_type() const { return (RudderArming)_rudder_arming.get(); }
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#if AP_ARMING_AUX_AUTH_ENABLED
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// auxiliary authorisation methods
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bool get_aux_auth_id(uint8_t& auth_id);
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void set_aux_auth_passed(uint8_t auth_id);
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void set_aux_auth_failed(uint8_t auth_id, const char* fail_msg);
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#endif
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static const struct AP_Param::GroupInfo var_info[];
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// method that was last used for disarm; invalid unless the
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// vehicle has been disarmed at least once.
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Method last_disarm_method() const { return _last_disarm_method; }
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// method that was last used for arm; invalid unless the
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// vehicle has been disarmed at least once.
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Method last_arm_method() const { return _last_arm_method; }
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// enum for ARMING_OPTIONS parameter
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enum class Option : int32_t {
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DISABLE_PREARM_DISPLAY = (1U << 0),
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DISABLE_STATUSTEXT_ON_STATE_CHANGE = (1U << 1),
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};
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bool option_enabled(Option option) const {
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return (_arming_options & uint32_t(option)) != 0;
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}
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void send_arm_disarm_statustext(const char *string) const;
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static bool method_is_GCS(Method method) {
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return (method == Method::MAVLINK || method == Method::DDS);
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}
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protected:
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// Parameters
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AP_Enum<Required> require;
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AP_Int32 checks_to_perform; // bitmask for which checks are required
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AP_Float accel_error_threshold;
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AP_Int8 _rudder_arming;
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AP_Int32 _required_mission_items;
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AP_Int32 _arming_options;
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AP_Int16 magfield_error_threshold;
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// internal members
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bool armed;
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uint32_t last_accel_pass_ms;
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uint32_t last_gyro_pass_ms;
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virtual bool barometer_checks(bool report);
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bool airspeed_checks(bool report);
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bool logging_checks(bool report);
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#if AP_INERTIALSENSOR_ENABLED
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virtual bool ins_checks(bool report);
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#endif
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bool compass_checks(bool report);
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virtual bool gps_checks(bool report);
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bool battery_checks(bool report);
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bool hardware_safety_check(bool report);
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virtual bool board_voltage_checks(bool report);
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virtual bool rc_calibration_checks(bool report);
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bool rc_in_calibration_check(bool report);
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bool rc_arm_checks(AP_Arming::Method method);
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bool manual_transmitter_checks(bool report);
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virtual bool mission_checks(bool report);
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bool terrain_checks(bool report) const;
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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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virtual bool terrain_database_required() const;
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bool rangefinder_checks(bool report);
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bool fence_checks(bool report);
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#if HAL_HAVE_IMU_HEATER
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bool heater_min_temperature_checks(bool report);
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#endif
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bool camera_checks(bool display_failure);
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bool osd_checks(bool display_failure) const;
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bool mount_checks(bool display_failure) const;
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#if AP_ARMING_AUX_AUTH_ENABLED
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bool aux_auth_checks(bool display_failure);
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#endif
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bool generator_checks(bool report) const;
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bool opendroneid_checks(bool display_failure);
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bool serial_protocol_checks(bool display_failure);
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bool estop_checks(bool display_failure);
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virtual bool system_checks(bool report);
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bool can_checks(bool report);
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bool fettec_checks(bool display_failure) const;
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bool kdecan_checks(bool display_failure) const;
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virtual bool proximity_checks(bool report) const;
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bool servo_checks(bool report) const;
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bool rc_checks_copter_sub(bool display_failure, const class RC_Channel *channels[4]) const;
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bool visodom_checks(bool report) const;
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bool disarm_switch_checks(bool report) const;
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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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virtual bool mandatory_checks(bool report);
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// returns true if a particular check is enabled
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bool check_enabled(const enum AP_Arming::ArmingChecks check) const;
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// handle the case where a check fails
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void check_failed(const enum AP_Arming::ArmingChecks check, bool report, const char *fmt, ...) const FMT_PRINTF(4, 5);
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void check_failed(bool report, const char *fmt, ...) const FMT_PRINTF(3, 4);
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void Log_Write_Arm(bool forced, AP_Arming::Method method);
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void Log_Write_Disarm(bool forced, AP_Arming::Method method);
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private:
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static AP_Arming *_singleton;
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#if AP_INERTIALSENSOR_ENABLED
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bool ins_accels_consistent(const class AP_InertialSensor &ins);
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bool ins_gyros_consistent(const class AP_InertialSensor &ins);
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#endif
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// check if we should keep logging after disarming
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void check_forced_logging(const AP_Arming::Method method);
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enum MIS_ITEM_CHECK {
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MIS_ITEM_CHECK_LAND = (1 << 0),
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MIS_ITEM_CHECK_VTOL_LAND = (1 << 1),
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MIS_ITEM_CHECK_DO_LAND_START = (1 << 2),
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MIS_ITEM_CHECK_TAKEOFF = (1 << 3),
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MIS_ITEM_CHECK_VTOL_TAKEOFF = (1 << 4),
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MIS_ITEM_CHECK_RALLY = (1 << 5),
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MIS_ITEM_CHECK_RETURN_TO_LAUNCH = (1 << 6),
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MIS_ITEM_CHECK_MAX
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};
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#if AP_ARMING_AUX_AUTH_ENABLED
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// auxiliary authorisation
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static const uint8_t aux_auth_count_max = 3; // maximum number of auxiliary authorisers
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static const uint8_t aux_auth_str_len = 42; // maximum length of failure message (50-8 for "PreArm: ")
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enum class AuxAuthStates : uint8_t {
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NO_RESPONSE = 0,
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AUTH_FAILED,
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AUTH_PASSED
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} aux_auth_state[aux_auth_count_max] = {}; // state of each auxiliary authorisation
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uint8_t aux_auth_count; // number of auxiliary authorisers
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uint8_t aux_auth_fail_msg_source; // authorisation id who set aux_auth_fail_msg
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char* aux_auth_fail_msg; // buffer for holding failure messages
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bool aux_auth_error; // true if too many auxiliary authorisers
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HAL_Semaphore aux_auth_sem; // semaphore for accessing the aux_auth_state and aux_auth_fail_msg
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#endif
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// method that was last used for arm/disarm; invalid unless the
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// vehicle has been disarmed at least once.
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Method _last_disarm_method = Method::UNKNOWN;
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Method _last_arm_method = Method::UNKNOWN;
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uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures
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bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle
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bool last_prearm_checks_result; // result of last prearm check
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bool report_immediately; // set to true when check goes from true to false, to trigger immediate report
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void update_arm_gpio();
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};
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namespace AP {
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AP_Arming &arming();
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};
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