aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Arming: Allow arming without the hardware safety switch having been pressed

Browse Source 
Added an enum to the check type that allows for arming without the hardware switch having been enabled
This commit is contained in:
Michael du Breuil 2015-12-20 23:34:00 -07:00 committed by Andrew Tridgell
parent 2f1297f30c
commit 52666232ed
2 changed files with 13 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
libraries/AP_Arming/AP_Arming.cpp
View File

@ -37,8 +37,8 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @Param: CHECK
// @DisplayName: Arm Checks to Peform (bitmask)
// @Description: Checks prior to arming motor. This is a bitmask of checks that will be performed befor allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks.
// @Values: 0:None,1:All,2:Barometer,4:Compass,8:GPS,16:INS(INertial Sensors - accels & gyros),32:Parameters(unused),64:RC Failsafe,128:Board voltage,256:Battery Level,512:Airspeed,1024:LoggingAvailable
// @Bitmask: 0:All,1:Barometer,2:Compass,3:GPS,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available
// @Values: 0:None,1:All,2:Barometer,4:Compass,8:GPS,16:INS(INertial Sensors - accels & gyros),32:Parameters(unused),64:RC Failsafe,128:Board voltage,256:Battery Level,512:Airspeed,1024:LoggingAvailable,2048:Hardware safety switch
// @Bitmask: 0:All,1:Barometer,2:Compass,3:GPS,4:INS,5:Parameters,6:RC,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch
// @User: Standard
AP_GROUPINFO("CHECK", 2, AP_Arming, checks_to_perform, ARMING_CHECK_ALL),
@ -318,12 +318,16 @@ bool AP_Arming::battery_checks(bool report)
bool AP_Arming::hardware_safety_check(bool report)
{
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Hardware safety switch");
}
return false;
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_SWITCH)) {
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: Hardware safety switch");
}
return false;
}
}
return true;

1
libraries/AP_Arming/AP_Arming.h
View File

@ -23,6 +23,7 @@ public:
ARMING_CHECK_BATTERY = 0x0100,
ARMING_CHECK_AIRSPEED = 0x0200,
ARMING_CHECK_LOGGING = 0x0400,
ARMING_CHECK_SWITCH = 0x0800,
};
enum ArmingMethod {