mirror of https://github.com/ArduPilot/ardupilot
111 lines
3.3 KiB
C++
111 lines
3.3 KiB
C++
#pragma once
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <RC_Channel/RC_Channel.h>
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class AP_Arming {
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public:
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enum ArmingChecks {
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ARMING_CHECK_NONE = 0x0000,
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ARMING_CHECK_ALL = 0x0001,
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ARMING_CHECK_BARO = 0x0002,
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ARMING_CHECK_COMPASS = 0x0004,
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ARMING_CHECK_GPS = 0x0008,
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ARMING_CHECK_INS = 0x0010,
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ARMING_CHECK_PARAMETERS = 0x0020,
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ARMING_CHECK_RC = 0x0040,
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ARMING_CHECK_VOLTAGE = 0x0080,
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ARMING_CHECK_BATTERY = 0x0100,
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ARMING_CHECK_AIRSPEED = 0x0200,
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ARMING_CHECK_LOGGING = 0x0400,
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ARMING_CHECK_SWITCH = 0x0800,
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ARMING_CHECK_GPS_CONFIG = 0x1000,
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};
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enum ArmingMethod {
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NONE = 0,
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RUDDER,
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MAVLINK
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};
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enum ArmingRequired {
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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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// these functions should not be used by Copter which holds the armed state in the motors library
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ArmingRequired arming_required();
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virtual bool arm(uint8_t method);
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bool disarm();
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bool is_armed();
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// get bitmask of enabled checks
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uint16_t get_enabled_checks();
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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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bool arm_checks(uint8_t method);
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// get expected magnetic field strength
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uint16_t compass_magfield_expected() const;
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
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const AP_BattMonitor &battery);
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// Parameters
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AP_Int8 require;
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AP_Int16 checks_to_perform; // bitmask for which checks are required
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AP_Float accel_error_threshold;
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AP_Float _min_voltage[AP_BATT_MONITOR_MAX_INSTANCES];
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// references
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const AP_AHRS &ahrs;
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const AP_Baro &barometer;
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Compass &_compass;
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const AP_BattMonitor &_battery;
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// internal members
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bool armed:1;
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bool logging_available:1;
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uint8_t arming_method; // how the vehicle was armed
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uint32_t last_accel_pass_ms[INS_MAX_INSTANCES];
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uint32_t last_gyro_pass_ms[INS_MAX_INSTANCES];
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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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virtual bool ins_checks(bool report);
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virtual 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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bool board_voltage_checks(bool report);
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bool manual_transmitter_checks(bool report);
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virtual enum HomeState home_status() const = 0;
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bool rc_checks_copter_sub(bool display_failure, const RC_Channel *channels[4], const bool check_min_max = true) const;
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};
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