mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.7 KiB
C++
61 lines
1.7 KiB
C++
#pragma once
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#include <AP_Arming/AP_Arming.h>
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#ifndef AP_PLANE_BLACKBOX_LOGGING
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#define AP_PLANE_BLACKBOX_LOGGING 0
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#endif
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/*
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a plane specific arming class
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*/
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class AP_Arming_Plane : public AP_Arming
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{
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public:
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AP_Arming_Plane()
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: AP_Arming()
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Arming_Plane);
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bool pre_arm_checks(bool report) override;
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bool arm_checks(AP_Arming::Method method) override;
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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bool disarm(AP_Arming::Method method, bool do_disarm_checks=true) override;
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bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
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void update_soft_armed();
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bool get_delay_arming() const { return delay_arming; };
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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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bool mandatory_checks(bool display_failure) override;
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protected:
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bool ins_checks(bool report) override;
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bool terrain_database_required() const override;
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bool quadplane_checks(bool display_failure);
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bool mission_checks(bool report) override;
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// Checks rc has been received if it is configured to be used
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bool rc_received_if_enabled_check(bool display_failure);
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private:
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void change_arm_state(void);
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// oneshot with duration AP_ARMING_DELAY_MS used by quadplane to delay spoolup after arming:
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// ignored unless OPTION_DELAY_ARMING or OPTION_TILT_DISARMED is set
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bool delay_arming;
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#if AP_PLANE_BLACKBOX_LOGGING
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AP_Float blackbox_speed;
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uint32_t last_over_3dspeed_ms;
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#endif
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};
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