ardupilot/libraries/AP_Arming/AP_Arming.h

253 lines
9.0 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <RC_Channel/RC_Channel.h>
class AP_Arming {
public:
AP_Arming();
/* Do not allow copies */
AP_Arming(const AP_Arming &other) = delete;
AP_Arming &operator=(const AP_Arming&) = delete;
static AP_Arming *get_singleton();
enum ArmingChecks {
ARMING_CHECK_ALL = (1U << 0),
ARMING_CHECK_BARO = (1U << 1),
ARMING_CHECK_COMPASS = (1U << 2),
ARMING_CHECK_GPS = (1U << 3),
ARMING_CHECK_INS = (1U << 4),
ARMING_CHECK_PARAMETERS = (1U << 5),
ARMING_CHECK_RC = (1U << 6),
ARMING_CHECK_VOLTAGE = (1U << 7),
ARMING_CHECK_BATTERY = (1U << 8),
ARMING_CHECK_AIRSPEED = (1U << 9),
ARMING_CHECK_LOGGING = (1U << 10),
ARMING_CHECK_SWITCH = (1U << 11),
ARMING_CHECK_GPS_CONFIG = (1U << 12),
ARMING_CHECK_SYSTEM = (1U << 13),
ARMING_CHECK_MISSION = (1U << 14),
ARMING_CHECK_RANGEFINDER = (1U << 15),
ARMING_CHECK_CAMERA = (1U << 16),
ARMING_CHECK_AUX_AUTH = (1U << 17),
ARMING_CHECK_VISION = (1U << 18),
ARMING_CHECK_FFT = (1U << 19),
};
enum class Method {
RUDDER = 0,
MAVLINK = 1,
AUXSWITCH = 2,
MOTORTEST = 3,
SCRIPTING = 4,
TERMINATION = 5, // only disarm uses this...
CPUFAILSAFE = 6, // only disarm uses this...
BATTERYFAILSAFE = 7, // only disarm uses this...
SOLOPAUSEWHENLANDED = 8, // only disarm uses this...
AFS = 9, // only disarm uses this...
ADSBCOLLISIONACTION = 10, // only disarm uses this...
PARACHUTE_RELEASE = 11, // only disarm uses this...
CRASH = 12, // only disarm uses this...
LANDED = 13, // only disarm uses this...
MISSIONEXIT = 14, // only disarm uses this...
FENCEBREACH = 15, // only disarm uses this...
RADIOFAILSAFE = 16, // only disarm uses this...
DISARMDELAY = 17, // only disarm uses this...
GCSFAILSAFE = 18, // only disarm uses this...
TERRRAINFAILSAFE = 19, // only disarm uses this...
FAILSAFE_ACTION_TERMINATE = 20, // only disarm uses this...
TERRAINFAILSAFE = 21, // only disarm uses this...
MOTORDETECTDONE = 22, // only disarm uses this...
BADFLOWOFCONTROL = 23, // only disarm uses this...
EKFFAILSAFE = 24, // only disarm uses this...
GCS_FAILSAFE_SURFACEFAILED = 25, // only disarm uses this...
GCS_FAILSAFE_HOLDFAILED = 26, // only disarm uses this...
TAKEOFFTIMEOUT = 27, // only disarm uses this...
AUTOLANDED = 28, // only disarm uses this...
PILOT_INPUT_FAILSAFE = 29, // only disarm uses this...
TOYMODELANDTHROTTLE = 30, // only disarm uses this...
TOYMODELANDFORCE = 31, // only disarm uses this...
LANDING = 32, // only disarm uses this...
UNKNOWN = 100,
};
enum class Required {
NO = 0,
YES_MIN_PWM = 1,
YES_ZERO_PWM = 2
};
void init(void);
// these functions should not be used by Copter which holds the armed state in the motors library
Required arming_required();
virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true);
virtual bool disarm(AP_Arming::Method method, bool do_disarm_checks=true);
bool is_armed();
// get bitmask of enabled checks
uint32_t get_enabled_checks() const;
// pre_arm_checks() is virtual so it can be modified in a vehicle specific subclass
virtual bool pre_arm_checks(bool report);
// some arming checks have side-effects, or require some form of state
// change to have occurred, and thus should not be done as pre-arm
// checks. Those go here:
virtual bool arm_checks(AP_Arming::Method method);
// get expected magnetic field strength
uint16_t compass_magfield_expected() const;
// rudder arming support
enum class RudderArming {
IS_DISABLED = 0, // DISABLED leaks in from vehicle defines.h
ARMONLY = 1,
ARMDISARM = 2
};
RudderArming get_rudder_arming_type() const { return (RudderArming)_rudder_arming.get(); }
// auxiliary authorisation methods
bool get_aux_auth_id(uint8_t& auth_id);
void set_aux_auth_passed(uint8_t auth_id);
void set_aux_auth_failed(uint8_t auth_id, const char* fail_msg);
static const struct AP_Param::GroupInfo var_info[];
// method that was last used for disarm; invalid unless the
// vehicle has been disarmed at least once.
Method last_disarm_method() const { return _last_disarm_method; }
protected:
// Parameters
AP_Int8 require;
AP_Int32 checks_to_perform; // bitmask for which checks are required
AP_Float accel_error_threshold;
AP_Int8 _rudder_arming;
AP_Int32 _required_mission_items;
// internal members
bool armed;
uint32_t last_accel_pass_ms[INS_MAX_INSTANCES];
uint32_t last_gyro_pass_ms[INS_MAX_INSTANCES];
virtual bool barometer_checks(bool report);
bool airspeed_checks(bool report);
bool logging_checks(bool report);
virtual bool ins_checks(bool report);
bool compass_checks(bool report);
virtual bool gps_checks(bool report);
bool battery_checks(bool report);
bool hardware_safety_check(bool report);
virtual bool board_voltage_checks(bool report);
virtual bool rc_calibration_checks(bool report);
bool rc_arm_checks(AP_Arming::Method method);
bool manual_transmitter_checks(bool report);
bool mission_checks(bool report);
bool rangefinder_checks(bool report);
bool fence_checks(bool report);
#if HAL_HAVE_IMU_HEATER
bool heater_min_temperature_checks(bool report);
#endif
bool camera_checks(bool display_failure);
bool osd_checks(bool display_failure) const;
bool aux_auth_checks(bool display_failure);
bool generator_checks(bool report) const;
virtual bool system_checks(bool report);
bool can_checks(bool report);
bool fettec_checks(bool display_failure) const;
virtual bool proximity_checks(bool report) const;
bool servo_checks(bool report) const;
bool rc_checks_copter_sub(bool display_failure, const RC_Channel *channels[4]) const;
bool visodom_checks(bool report) const;
bool disarm_switch_checks(bool report) const;
// mandatory checks that cannot be bypassed. This function will only be called if ARMING_CHECK is zero or arming forced
virtual bool mandatory_checks(bool report) { return true; }
// returns true if a particular check is enabled
bool check_enabled(const enum AP_Arming::ArmingChecks check) const;
// returns a mavlink severity which should be used if a specific check fails
MAV_SEVERITY check_severity(const enum AP_Arming::ArmingChecks check) const;
// handle the case where a check fails
void check_failed(const enum AP_Arming::ArmingChecks check, bool report, const char *fmt, ...) const FMT_PRINTF(4, 5);
void check_failed(bool report, const char *fmt, ...) const FMT_PRINTF(3, 4);
void Log_Write_Arm(bool forced, AP_Arming::Method method);
void Log_Write_Disarm(bool forced, AP_Arming::Method method);
private:
static AP_Arming *_singleton;
bool ins_accels_consistent(const AP_InertialSensor &ins);
bool ins_gyros_consistent(const AP_InertialSensor &ins);
// check if we should keep logging after disarming
void check_forced_logging(const AP_Arming::Method method);
enum MIS_ITEM_CHECK {
MIS_ITEM_CHECK_LAND = (1 << 0),
MIS_ITEM_CHECK_VTOL_LAND = (1 << 1),
MIS_ITEM_CHECK_DO_LAND_START = (1 << 2),
MIS_ITEM_CHECK_TAKEOFF = (1 << 3),
MIS_ITEM_CHECK_VTOL_TAKEOFF = (1 << 4),
MIS_ITEM_CHECK_RALLY = (1 << 5),
MIS_ITEM_CHECK_MAX
};
// auxiliary authorisation
static const uint8_t aux_auth_count_max = 3; // maximum number of auxiliary authorisers
static const uint8_t aux_auth_str_len = 42; // maximum length of failure message (50-8 for "PreArm: ")
enum class AuxAuthStates : uint8_t {
NO_RESPONSE = 0,
AUTH_FAILED,
AUTH_PASSED
} aux_auth_state[aux_auth_count_max] = {}; // state of each auxiliary authorisation
uint8_t aux_auth_count; // number of auxiliary authorisers
uint8_t aux_auth_fail_msg_source; // authorisation id who set aux_auth_fail_msg
char* aux_auth_fail_msg; // buffer for holding failure messages
bool aux_auth_error; // true if too many auxiliary authorisers
HAL_Semaphore aux_auth_sem; // semaphore for accessing the aux_auth_state and aux_auth_fail_msg
// method that was last used for disarm; invalid unless the
// vehicle has been disarmed at least once.
Method _last_disarm_method = Method::UNKNOWN;
};
namespace AP {
AP_Arming &arming();
};