mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-06 16:08:28 -04:00
f3a31b988a
Functionality changes: - gyros and accels only have to be consistent in last 10 seconds to pass - ins.use_accel() is honoured when checking for consistency - ins.use_gyro() is honoured when checking for consistency - threshold is trippled rather than doubled for accel cal checks - checks are reordered
58 lines
1.8 KiB
C++
58 lines
1.8 KiB
C++
#pragma once
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#include <AP_Arming/AP_Arming.h>
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class AP_Arming_Copter : public AP_Arming
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{
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public:
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AP_Arming_Copter(const AP_AHRS_NavEKF &ahrs_ref, const AP_Baro &baro, Compass &compass,
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const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav,
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const AP_InertialSensor &ins) :
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AP_Arming(ahrs_ref, baro, compass, battery),
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inertial_nav(inav),
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_ins(ins),
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ahrs_navekf(ahrs_ref)
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{
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}
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void update(void);
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bool all_checks_passing(bool arming_from_gcs);
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void pre_arm_rc_checks();
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protected:
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bool pre_arm_checks(bool display_failure);
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bool pre_arm_gps_checks(bool display_failure);
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bool pre_arm_ekf_attitude_check();
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bool pre_arm_terrain_check(bool display_failure);
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bool pre_arm_proximity_check(bool display_failure);
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bool arm_checks(bool display_failure, bool arming_from_gcs);
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// NOTE! the following check functions *DO* call into AP_Arming:
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bool ins_checks(bool display_failure) override;
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// NOTE! the following check functions *DO NOT* call into AP_Arming!
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bool gps_checks(bool display_failure);
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bool fence_checks(bool display_failure);
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bool compass_checks(bool display_failure);
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bool board_voltage_checks(bool display_failure);
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bool parameter_checks(bool display_failure);
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bool pilot_throttle_checks(bool display_failure);
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bool barometer_checks(bool display_failure);
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bool rc_calibration_checks(bool display_failure);
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void set_pre_arm_check(bool b);
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void set_pre_arm_rc_check(bool b);
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enum HomeState home_status() const override;
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private:
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void gcs_send_text(MAV_SEVERITY severity, const char *str);
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const AP_InertialNav_NavEKF &inertial_nav;
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const AP_InertialSensor &_ins;
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const AP_AHRS_NavEKF &ahrs_navekf;
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};
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