mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.8 KiB
C++
58 lines
1.8 KiB
C++
#pragma once
|
|
|
|
#include <AP_Arming/AP_Arming.h>
|
|
|
|
class AP_Arming_Blimp : public AP_Arming
|
|
{
|
|
public:
|
|
friend class Blimp;
|
|
friend class ToyMode;
|
|
|
|
AP_Arming_Blimp() : AP_Arming()
|
|
{
|
|
// default REQUIRE parameter to 1 (Blimp does not have an
|
|
// actual ARMING_REQUIRE parameter)
|
|
require.set_default((uint8_t)Required::YES_MIN_PWM);
|
|
}
|
|
|
|
/* Do not allow copies */
|
|
CLASS_NO_COPY(AP_Arming_Blimp);
|
|
|
|
bool rc_calibration_checks(bool display_failure) override;
|
|
|
|
bool disarm(AP_Arming::Method method, bool do_disarm_checks=true) override;
|
|
bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
|
|
|
|
protected:
|
|
|
|
bool pre_arm_checks(bool display_failure) override;
|
|
bool pre_arm_ekf_attitude_check();
|
|
bool arm_checks(AP_Arming::Method method) override;
|
|
|
|
// mandatory checks that cannot be bypassed. This function will only be called if ARMING_CHECK is zero or arming forced
|
|
bool mandatory_checks(bool display_failure) override;
|
|
|
|
// NOTE! the following check functions *DO* call into AP_Arming:
|
|
bool ins_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 parameter_checks(bool display_failure);
|
|
bool motor_checks(bool display_failure);
|
|
bool oa_checks(bool display_failure);
|
|
bool mandatory_gps_checks(bool display_failure);
|
|
bool gcs_failsafe_check(bool display_failure);
|
|
bool alt_checks(bool display_failure);
|
|
|
|
void set_pre_arm_check(bool b);
|
|
|
|
private:
|
|
|
|
// actually contains the pre-arm checks. This is wrapped so that
|
|
// we can store away success/failure of the checks.
|
|
bool run_pre_arm_checks(bool display_failure);
|
|
|
|
};
|