mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
f5a8561fde
Before this patch we would display PreArm: even if the checks were being performed as part of the arming sequence. This lets us distinguish betwee checks failing because the user is trying to arm the vehicle and when the prearms are running while disarmed (or triggered via GCS)
270 lines
9.6 KiB
C++
270 lines
9.6 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_HAL/Semaphores.h>
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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class AP_Arming {
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public:
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AP_Arming();
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CLASS_NO_COPY(AP_Arming); /* Do not allow copies */
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static AP_Arming *get_singleton();
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void update();
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enum ArmingChecks {
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ARMING_CHECK_ALL = (1U << 0),
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ARMING_CHECK_BARO = (1U << 1),
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ARMING_CHECK_COMPASS = (1U << 2),
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ARMING_CHECK_GPS = (1U << 3),
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ARMING_CHECK_INS = (1U << 4),
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ARMING_CHECK_PARAMETERS = (1U << 5),
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ARMING_CHECK_RC = (1U << 6),
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ARMING_CHECK_VOLTAGE = (1U << 7),
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ARMING_CHECK_BATTERY = (1U << 8),
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ARMING_CHECK_AIRSPEED = (1U << 9),
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ARMING_CHECK_LOGGING = (1U << 10),
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ARMING_CHECK_SWITCH = (1U << 11),
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ARMING_CHECK_GPS_CONFIG = (1U << 12),
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ARMING_CHECK_SYSTEM = (1U << 13),
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ARMING_CHECK_MISSION = (1U << 14),
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ARMING_CHECK_RANGEFINDER = (1U << 15),
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ARMING_CHECK_CAMERA = (1U << 16),
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ARMING_CHECK_AUX_AUTH = (1U << 17),
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ARMING_CHECK_VISION = (1U << 18),
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ARMING_CHECK_FFT = (1U << 19),
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};
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enum class Method {
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RUDDER = 0,
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MAVLINK = 1,
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AUXSWITCH = 2,
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MOTORTEST = 3,
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SCRIPTING = 4,
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TERMINATION = 5, // only disarm uses this...
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CPUFAILSAFE = 6, // only disarm uses this...
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BATTERYFAILSAFE = 7, // only disarm uses this...
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SOLOPAUSEWHENLANDED = 8, // only disarm uses this...
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AFS = 9, // only disarm uses this...
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ADSBCOLLISIONACTION = 10, // only disarm uses this...
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PARACHUTE_RELEASE = 11, // only disarm uses this...
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CRASH = 12, // only disarm uses this...
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LANDED = 13, // only disarm uses this...
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MISSIONEXIT = 14, // only disarm uses this...
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FENCEBREACH = 15, // only disarm uses this...
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RADIOFAILSAFE = 16, // only disarm uses this...
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DISARMDELAY = 17, // only disarm uses this...
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GCSFAILSAFE = 18, // only disarm uses this...
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TERRRAINFAILSAFE = 19, // only disarm uses this...
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FAILSAFE_ACTION_TERMINATE = 20, // only disarm uses this...
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TERRAINFAILSAFE = 21, // only disarm uses this...
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MOTORDETECTDONE = 22, // only disarm uses this...
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BADFLOWOFCONTROL = 23, // only disarm uses this...
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EKFFAILSAFE = 24, // only disarm uses this...
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GCS_FAILSAFE_SURFACEFAILED = 25, // only disarm uses this...
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GCS_FAILSAFE_HOLDFAILED = 26, // only disarm uses this...
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TAKEOFFTIMEOUT = 27, // only disarm uses this...
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AUTOLANDED = 28, // only disarm uses this...
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PILOT_INPUT_FAILSAFE = 29, // only disarm uses this...
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TOYMODELANDTHROTTLE = 30, // only disarm uses this...
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TOYMODELANDFORCE = 31, // only disarm uses this...
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LANDING = 32, // only disarm uses this...
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DEADRECKON_FAILSAFE = 33, // only disarm uses this...
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UNKNOWN = 100,
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};
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enum class Required {
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NO = 0,
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YES_MIN_PWM = 1,
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YES_ZERO_PWM = 2
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};
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void init(void);
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// these functions should not be used by Copter which holds the armed state in the motors library
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Required arming_required();
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virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true);
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virtual bool disarm(AP_Arming::Method method, bool do_disarm_checks=true);
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bool is_armed();
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// get bitmask of enabled checks
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uint32_t get_enabled_checks() const;
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// pre_arm_checks() is virtual so it can be modified in a vehicle specific subclass
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virtual bool pre_arm_checks(bool report);
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// some arming checks have side-effects, or require some form of state
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// change to have occurred, and thus should not be done as pre-arm
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// checks. Those go here:
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virtual bool arm_checks(AP_Arming::Method method);
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// get expected magnetic field strength
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uint16_t compass_magfield_expected() const;
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// rudder arming support
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enum class RudderArming {
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IS_DISABLED = 0, // DISABLED leaks in from vehicle defines.h
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ARMONLY = 1,
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ARMDISARM = 2
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};
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RudderArming get_rudder_arming_type() const { return (RudderArming)_rudder_arming.get(); }
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// auxiliary authorisation methods
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bool get_aux_auth_id(uint8_t& auth_id);
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void set_aux_auth_passed(uint8_t auth_id);
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void set_aux_auth_failed(uint8_t auth_id, const char* fail_msg);
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static const struct AP_Param::GroupInfo var_info[];
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// method that was last used for disarm; invalid unless the
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// vehicle has been disarmed at least once.
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Method last_disarm_method() const { return _last_disarm_method; }
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// enum for ARMING_OPTIONS parameter
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enum class Option : int32_t {
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DISABLE_PREARM_DISPLAY = (1U << 0),
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};
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bool option_enabled(Option option) const {
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return (_arming_options & uint32_t(option)) != 0;
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}
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protected:
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// Parameters
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AP_Int8 require;
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AP_Int32 checks_to_perform; // bitmask for which checks are required
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AP_Float accel_error_threshold;
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AP_Int8 _rudder_arming;
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AP_Int32 _required_mission_items;
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AP_Int32 _arming_options;
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// internal members
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bool armed;
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uint32_t last_accel_pass_ms;
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uint32_t last_gyro_pass_ms;
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virtual bool barometer_checks(bool report);
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bool airspeed_checks(bool report);
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bool logging_checks(bool report);
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virtual bool ins_checks(bool report);
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bool compass_checks(bool report);
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virtual bool gps_checks(bool report);
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bool battery_checks(bool report);
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bool hardware_safety_check(bool report);
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virtual bool board_voltage_checks(bool report);
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virtual bool rc_calibration_checks(bool report);
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bool rc_in_calibration_check(bool report);
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bool rc_arm_checks(AP_Arming::Method method);
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bool manual_transmitter_checks(bool report);
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virtual bool mission_checks(bool report);
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bool rangefinder_checks(bool report);
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bool fence_checks(bool report);
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#if HAL_HAVE_IMU_HEATER
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bool heater_min_temperature_checks(bool report);
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#endif
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bool camera_checks(bool display_failure);
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bool osd_checks(bool display_failure) const;
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bool mount_checks(bool display_failure) const;
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bool aux_auth_checks(bool display_failure);
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bool generator_checks(bool report) const;
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virtual bool system_checks(bool report);
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bool can_checks(bool report);
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bool fettec_checks(bool display_failure) const;
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virtual bool proximity_checks(bool report) const;
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bool servo_checks(bool report) const;
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bool rc_checks_copter_sub(bool display_failure, const class RC_Channel *channels[4]) const;
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bool visodom_checks(bool report) const;
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bool disarm_switch_checks(bool report) const;
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// mandatory checks that cannot be bypassed. This function will only be called if ARMING_CHECK is zero or arming forced
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virtual bool mandatory_checks(bool report);
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// returns true if a particular check is enabled
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bool check_enabled(const enum AP_Arming::ArmingChecks check) const;
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// returns a mavlink severity which should be used if a specific check fails
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MAV_SEVERITY check_severity(const enum AP_Arming::ArmingChecks check) const;
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// handle the case where a check fails
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void check_failed(const enum AP_Arming::ArmingChecks check, bool report, const char *fmt, ...) const FMT_PRINTF(4, 5);
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void check_failed(bool report, const char *fmt, ...) const FMT_PRINTF(3, 4);
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void Log_Write_Arm(bool forced, AP_Arming::Method method);
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void Log_Write_Disarm(bool forced, AP_Arming::Method method);
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private:
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static AP_Arming *_singleton;
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bool ins_accels_consistent(const class AP_InertialSensor &ins);
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bool ins_gyros_consistent(const class AP_InertialSensor &ins);
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// check if we should keep logging after disarming
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void check_forced_logging(const AP_Arming::Method method);
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enum MIS_ITEM_CHECK {
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MIS_ITEM_CHECK_LAND = (1 << 0),
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MIS_ITEM_CHECK_VTOL_LAND = (1 << 1),
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MIS_ITEM_CHECK_DO_LAND_START = (1 << 2),
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MIS_ITEM_CHECK_TAKEOFF = (1 << 3),
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MIS_ITEM_CHECK_VTOL_TAKEOFF = (1 << 4),
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MIS_ITEM_CHECK_RALLY = (1 << 5),
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MIS_ITEM_CHECK_MAX
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};
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// auxiliary authorisation
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static const uint8_t aux_auth_count_max = 3; // maximum number of auxiliary authorisers
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static const uint8_t aux_auth_str_len = 42; // maximum length of failure message (50-8 for "PreArm: ")
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enum class AuxAuthStates : uint8_t {
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NO_RESPONSE = 0,
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AUTH_FAILED,
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AUTH_PASSED
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} aux_auth_state[aux_auth_count_max] = {}; // state of each auxiliary authorisation
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uint8_t aux_auth_count; // number of auxiliary authorisers
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uint8_t aux_auth_fail_msg_source; // authorisation id who set aux_auth_fail_msg
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char* aux_auth_fail_msg; // buffer for holding failure messages
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bool aux_auth_error; // true if too many auxiliary authorisers
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HAL_Semaphore aux_auth_sem; // semaphore for accessing the aux_auth_state and aux_auth_fail_msg
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// method that was last used for disarm; invalid unless the
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// vehicle has been disarmed at least once.
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Method _last_disarm_method = Method::UNKNOWN;
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uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures
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bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle
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};
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namespace AP {
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AP_Arming &arming();
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};
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