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AP_Arming: run prearm checks on all vehicles @1Hz, displaying @0.0333Hz

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This commit is contained in:
Peter Barker 2022-05-10 17:53:31 +10:00 committed by Randy Mackay
parent e7b0aff8ec
commit 53e8ab6af8
2 changed files with 22 additions and 0 deletions
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20
libraries/AP_Arming/AP_Arming.cpp
View File

@ -77,6 +77,10 @@
#define ARMING_RUDDER_DEFAULT (uint8_t)RudderArming::ARMDISARM
#endif
#ifndef PREARM_DISPLAY_PERIOD
# define PREARM_DISPLAY_PERIOD 30
#endif
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_Arming::var_info[] = {
@ -155,6 +159,22 @@ AP_Arming::AP_Arming()
AP_Param::setup_object_defaults(this, var_info);
}
// performs pre-arm checks. expects to be called at 1hz.
void AP_Arming::update(void)
{
// perform pre-arm checks & display failures every 30 seconds
static uint8_t pre_arm_display_counter = PREARM_DISPLAY_PERIOD/2;
pre_arm_display_counter++;
bool display_fail = false;
if ((_arming_options & uint32_t(AP_Arming::ArmingOptions::DISABLE_PREARM_DISPLAY)) == 0 &&
pre_arm_display_counter >= PREARM_DISPLAY_PERIOD) {
display_fail = true;
pre_arm_display_counter = 0;
}
pre_arm_checks(display_fail);
}
uint16_t AP_Arming::compass_magfield_expected() const
{
return AP_ARMING_COMPASS_MAGFIELD_EXPECTED;

2
libraries/AP_Arming/AP_Arming.h
View File

@ -14,6 +14,8 @@ public:
static AP_Arming *get_singleton();
void update();
enum ArmingChecks {
ARMING_CHECK_ALL = (1U << 0),
ARMING_CHECK_BARO = (1U << 1),