ardupilot/ArduPlane/AP_Arming.h

45 lines
1.2 KiB
C++

#pragma once
#include <AP_Arming/AP_Arming.h>
/*
a plane specific arming class
*/
class AP_Arming_Plane : public AP_Arming
{
public:
AP_Arming_Plane()
: AP_Arming()
{
AP_Param::setup_object_defaults(this, var_info);
}
/* Do not allow copies */
AP_Arming_Plane(const AP_Arming_Plane &other) = delete;
AP_Arming_Plane &operator=(const AP_Arming_Plane&) = delete;
bool pre_arm_checks(bool report) override;
bool arm_checks(AP_Arming::Method method) override;
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
bool disarm(AP_Arming::Method method, bool do_disarm_checks=true) override;
bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
void update_soft_armed();
bool get_delay_arming() const { return delay_arming; };
protected:
bool ins_checks(bool report) override;
bool quadplane_checks(bool display_failure);
private:
void change_arm_state(void);
// oneshot with duration AP_ARMING_DELAY_MS used by quadplane to delay spoolup after arming:
// ignored unless OPTION_DELAY_ARMING or OPTION_TILT_DISARMED is set
bool delay_arming;
};