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AP_Arming: arming check for osd menu

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This commit is contained in:
Andy Piper 2020-04-26 15:37:49 +01:00 committed by Peter Barker
parent 8aeee4bc83
commit 2c19152644
2 changed files with 24 additions and 0 deletions
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22
libraries/AP_Arming/AP_Arming.cpp
View File

@ -38,6 +38,7 @@
#include <AP_GyroFFT/AP_GyroFFT.h>
#include <AP_RCMapper/AP_RCMapper.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_OSD/AP_OSD.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
@ -941,6 +942,26 @@ bool AP_Arming::camera_checks(bool display_failure)
return true;
}
bool AP_Arming::osd_checks(bool display_failure) const
{
#if OSD_ENABLED
if ((checks_to_perform & ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_CAMERA)) {
const AP_OSD *osd = AP::osd();
if (osd == nullptr) {
return true;
}
// check camera is ready
char fail_msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
if (!osd->pre_arm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
check_failed(ARMING_CHECK_CAMERA, display_failure, "%s", fail_msg);
return false;
}
}
#endif
return true;
}
// request an auxiliary authorisation id. This id should be used in subsequent calls to set_aux_auth_passed/failed
// returns true on success
bool AP_Arming::get_aux_auth_id(uint8_t& auth_id)
@ -1099,6 +1120,7 @@ bool AP_Arming::pre_arm_checks(bool report)
& generator_checks(report)
& proximity_checks(report)
& camera_checks(report)
& osd_checks(report)
& visodom_checks(report)
& aux_auth_checks(report)
& disarm_switch_checks(report);

2
libraries/AP_Arming/AP_Arming.h
View File

@ -169,6 +169,8 @@ protected:
bool camera_checks(bool display_failure);
bool osd_checks(bool display_failure) const;
bool aux_auth_checks(bool display_failure);
bool generator_checks(bool report) const;