ardupilot/ArduCopter/AP_Arming.h

65 lines
2.2 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() : AP_Arming()
{
// default REQUIRE parameter to 1 (Copter does not have an
// actual ARMING_REQUIRE parameter)
require.set_default((uint8_t)Required::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;
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 proximity_checks(bool display_failure) const override;
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 oa_checks(bool display_failure);
bool mandatory_gps_checks(bool display_failure);
bool gcs_failsafe_check(bool display_failure);
bool winch_checks(bool display_failure) const;
bool alt_checks(bool display_failure);
bool rc_throttle_failsafe_checks(bool display_failure) const;
void set_pre_arm_check(bool b);
// expected to return true if the terrain database is required to have
// all data loaded
bool terrain_database_required() const override;
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);
};