mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.5 KiB
C++
52 lines
1.5 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 */
|
|
CLASS_NO_COPY(AP_Arming_Plane);
|
|
|
|
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; };
|
|
|
|
// 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;
|
|
|
|
protected:
|
|
bool ins_checks(bool report) override;
|
|
bool terrain_database_required() const override;
|
|
|
|
bool quadplane_checks(bool display_failure);
|
|
bool mission_checks(bool report) override;
|
|
|
|
// Checks rc has been received if it is configured to be used
|
|
bool rc_received_if_enabled_check(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;
|
|
};
|