ardupilot/ArduCopter/AP_Arming.h

67 lines
2.3 KiB
C++

#pragma once
#include <AP_Arming/AP_Arming.h>
class AP_Arming_Copter : public AP_Arming
{
public:
static AP_Arming_Copter create(const AP_AHRS_NavEKF &ahrs_ref, const AP_Baro &baro, Compass &compass,
const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav,
const AP_InertialSensor &ins) {
return AP_Arming_Copter{ahrs_ref, baro, compass, battery, inav, ins};
}
constexpr AP_Arming_Copter(AP_Arming_Copter &&other) = default;
/* Do not allow copies */
AP_Arming_Copter(const AP_Arming_Copter &other) = delete;
AP_Arming_Copter &operator=(const AP_Baro&) = delete;
void update(void);
bool all_checks_passing(bool arming_from_gcs);
bool rc_calibration_checks(bool display_failure) override;
protected:
bool pre_arm_checks(bool display_failure) override;
bool pre_arm_ekf_attitude_check();
bool pre_arm_terrain_check(bool display_failure);
bool pre_arm_proximity_check(bool display_failure);
bool arm_checks(bool display_failure, bool arming_from_gcs);
// NOTE! the following check functions *DO* call into AP_Arming:
bool ins_checks(bool display_failure) override;
bool compass_checks(bool display_failure) override;
bool gps_checks(bool display_failure) override;
bool barometer_checks(bool display_failure) override;
bool board_voltage_checks(bool display_failure) override;
// NOTE! the following check functions *DO NOT* call into AP_Arming!
bool fence_checks(bool display_failure);
bool parameter_checks(bool display_failure);
bool motor_checks(bool display_failure);
bool pilot_throttle_checks(bool display_failure);
void set_pre_arm_check(bool b);
enum HomeState home_status() const override;
private:
AP_Arming_Copter(const AP_AHRS_NavEKF &ahrs_ref, const AP_Baro &baro, Compass &compass,
const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav,
const AP_InertialSensor &ins)
: AP_Arming(ahrs_ref, baro, compass, battery)
, _inav(inav)
, _ins(ins)
, _ahrs_navekf(ahrs_ref)
{
}
const AP_InertialNav_NavEKF &_inav;
const AP_InertialSensor &_ins;
const AP_AHRS_NavEKF &_ahrs_navekf;
void parameter_checks_pid_warning_message(bool display_failure, const char *error_msg);
};