ardupilot/ArduCopter/AP_Arming.h

60 lines
2.0 KiB
C++

#pragma once
#include <AP_Arming/AP_Arming.h>
class AP_Arming_Copter : public AP_Arming
{
public:
friend class Copter;
friend class ToyMode;
AP_Arming_Copter(const AP_AHRS_NavEKF &ahrs_ref, Compass &compass,
const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav)
: AP_Arming(ahrs_ref, compass, battery)
, _inav(inav)
, _ahrs_navekf(ahrs_ref)
{
// default REQUIRE parameter to 1 (Copter does not have an
// actual ARMING_REQUIRE parameter)
require.set_default(YES_MIN_PWM);
}
/* Do not allow copies */
AP_Arming_Copter(const AP_Arming_Copter &other) = delete;
AP_Arming_Copter &operator=(const AP_Arming_Copter&) = 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);
private:
const AP_InertialNav_NavEKF &_inav;
const AP_AHRS_NavEKF &_ahrs_navekf;
void parameter_checks_pid_warning_message(bool display_failure, const char *error_msg);
};