ardupilot/libraries/AP_Arming/AP_Arming.h

146 lines
4.4 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_AHRS/AP_AHRS.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;
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,
ARMING_CHECK_SWITCH = 0x0800,
ARMING_CHECK_GPS_CONFIG = 0x1000,
ARMING_CHECK_SYSTEM = 0x2000,
ARMING_CHECK_MISSION = 0x4000,
};
enum ArmingMethod {
RUDDER,
MAVLINK,
AUXSWITCH,
MOTORTEST,
};
enum ArmingRequired {
NO = 0,
YES_MIN_PWM = 1,
YES_ZERO_PWM = 2
};
// these functions should not be used by Copter which holds the armed state in the motors library
ArmingRequired arming_required();
virtual bool arm(ArmingMethod method, bool do_arming_checks=true);
bool disarm();
bool is_armed();
// get bitmask of enabled checks
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);
// 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:
bool arm_checks(ArmingMethod method);
// get expected magnetic field strength
uint16_t compass_magfield_expected() const;
// rudder arming support
enum ArmingRudder {
ARMING_RUDDER_DISABLED = 0,
ARMING_RUDDER_ARMONLY = 1,
ARMING_RUDDER_ARMDISARM = 2
};
ArmingRudder get_rudder_arming_type() const { return (ArmingRudder)_rudder_arming.get(); }
static const struct AP_Param::GroupInfo var_info[];
protected:
// Parameters
AP_Int8 require;
AP_Int16 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:1;
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);
virtual 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 manual_transmitter_checks(bool report);
bool mission_checks(bool report);
virtual bool system_checks(bool report);
bool can_checks(bool report);
bool servo_checks(bool report) const;
bool rc_checks_copter_sub(bool display_failure, const RC_Channel *channels[4]) const;
// 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;
private:
bool ins_accels_consistent(const AP_InertialSensor &ins);
bool ins_gyros_consistent(const AP_InertialSensor &ins);
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
};
};