From 2de8c26c06afed1ecd7c6a4db3015a127225e9db Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 4 Jun 2015 13:13:03 +1000 Subject: [PATCH] AP_Arming: allow pre_arm_checks() to be subclassed this allows for vehicle specific arming checks --- libraries/AP_Arming/AP_Arming.h | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h index f4fb3b748f..73193c8867 100644 --- a/libraries/AP_Arming/AP_Arming.h +++ b/libraries/AP_Arming/AP_Arming.h @@ -50,7 +50,11 @@ public: bool rudder_arming_enabled(); uint16_t get_enabled_checks(); - bool pre_arm_checks(bool report); + /* + 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; } @@ -58,7 +62,7 @@ public: //for params static const struct AP_Param::GroupInfo var_info[]; -private: +protected: bool armed:1; bool logging_available:1; bool skip_gyro_cal:1;