ardupilot/libraries/AP_Arming/AP_Arming.h

115 lines
3.4 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_ARMING_H__
#define __AP_ARMING_H__
#include <AP_AHRS/AP_AHRS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
class AP_Arming {
public:
enum ArmingChecks {
ARMING_CHECK_NONE = 0x0000,
ARMING_CHECK_ALL = 0x0001,
ARMING_CHECK_BARO = 0x0002,
ARMING_CHECK_COMPASS = 0x0004,
ARMING_CHECK_GPS = 0x0008,
ARMING_CHECK_INS = 0x0010,
ARMING_CHECK_PARAMETERS = 0x0020,
ARMING_CHECK_RC = 0x0040,
ARMING_CHECK_VOLTAGE = 0x0080,
ARMING_CHECK_BATTERY = 0x0100,
ARMING_CHECK_AIRSPEED = 0x0200,
ARMING_CHECK_LOGGING = 0x0400,
};
enum ArmingMethod {
NONE = 0,
RUDDER,
MAVLINK
};
enum ArmingRequired {
NO = 0,
YES_MIN_PWM = 1,
YES_ZERO_PWM = 2
};
enum ArmingRudder {
ARMING_RUDDER_DISABLED = 0,
ARMING_RUDDER_ARMONLY = 1,
ARMING_RUDDER_ARMDISARM = 2
};
// for the hacky function pointer to gcs_send_text_p
FUNCTOR_TYPEDEF(gcs_send_t_p, void, gcs_severity, const prog_char_t *);
AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
const enum HomeState &home_set, gcs_send_t_p);
ArmingRequired arming_required();
bool arm(uint8_t method);
bool disarm();
bool is_armed();
ArmingRudder rudder_arming() const { return (ArmingRudder)rudder_arming_value.get(); }
uint16_t get_enabled_checks();
/*
pre_arm_checks() is virtual so it can be modified
in a vehicle specific subclass
*/
virtual bool pre_arm_checks(bool report);
void set_skip_gyro_cal(bool set) { skip_gyro_cal = set; }
void set_logging_available(bool set) { logging_available = set; }
//for params
static const struct AP_Param::GroupInfo var_info[];
protected:
bool armed:1;
bool logging_available:1;
bool skip_gyro_cal:1;
//Parameters
AP_Int8 require;
AP_Int8 rudder_arming_value;
//bitmask for which checks are required
AP_Int16 checks_to_perform;
//how the vehicle was armed
uint8_t arming_method;
const AP_AHRS &ahrs;
const AP_Baro &barometer;
Compass &_compass;
const enum HomeState &home_is_set;
gcs_send_t_p gcs_send_text_P;
uint32_t last_accel_pass_ms[INS_MAX_INSTANCES];
uint32_t last_gyro_pass_ms[INS_MAX_INSTANCES];
void set_enabled_checks(uint16_t);
bool barometer_checks(bool report);
bool airspeed_checks(bool report);
bool logging_checks(bool report);
bool ins_checks(bool report);
bool compass_checks(bool report);
bool gps_checks(bool report);
bool battery_checks(bool report);
bool hardware_safety_check(bool report);
bool manual_transmitter_checks(bool report);
};
#endif //__AP_ARMING_H__