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AP_Arming: formatting changes

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This commit is contained in:
Randy Mackay 2015-10-12 14:29:27 +09:00
parent 6f36267a66
commit 6b91beb3ff
2 changed files with 45 additions and 47 deletions
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60
libraries/AP_Arming/AP_Arming.cpp
View File

@ -41,39 +41,40 @@ const AP_Param::GroupInfo AP_Arming::var_info[] PROGMEM = {
//The function point is particularly hacky, hacky, tacky
//but I don't want to reimplement messaging to GCS at the moment:
AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
const enum HomeState &home_set)
: armed(false)
, logging_available(false)
, arming_method(NONE)
, ahrs(ahrs_ref)
, barometer(baro)
, _compass(compass)
, home_is_set(home_set)
const enum HomeState &home_set) :
ahrs(ahrs_ref),
barometer(baro),
_compass(compass),
home_is_set(home_set),
armed(false),
logging_available(false),
arming_method(NONE)
{
AP_Param::setup_object_defaults(this, var_info);
memset(last_accel_pass_ms, 0, sizeof(last_accel_pass_ms));
memset(last_gyro_pass_ms, 0, sizeof(last_gyro_pass_ms));
}
bool AP_Arming::is_armed()
bool AP_Arming::is_armed()
{
return require == NONE || armed;
}
uint16_t AP_Arming::get_enabled_checks()
uint16_t AP_Arming::get_enabled_checks()
{
return checks_to_perform;
}
void AP_Arming::set_enabled_checks(uint16_t ap) {
void AP_Arming::set_enabled_checks(uint16_t ap)
{
checks_to_perform = ap;
}
bool AP_Arming::barometer_checks(bool report)
bool AP_Arming::barometer_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_BARO)) {
if (! barometer.healthy()) {
if (!barometer.healthy()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Barometer not healthy!"));
}
@ -84,7 +85,7 @@ bool AP_Arming::barometer_checks(bool report)
return true;
}
bool AP_Arming::airspeed_checks(bool report)
bool AP_Arming::airspeed_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_AIRSPEED)) {
@ -104,7 +105,7 @@ bool AP_Arming::airspeed_checks(bool report)
return true;
}
bool AP_Arming::logging_checks(bool report)
bool AP_Arming::logging_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_LOGGING)) {
@ -118,12 +119,12 @@ bool AP_Arming::logging_checks(bool report)
return true;
}
bool AP_Arming::ins_checks(bool report)
bool AP_Arming::ins_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_INS)) {
const AP_InertialSensor &ins = ahrs.get_ins();
if (! ins.get_gyro_health_all()) {
if (!ins.get_gyro_health_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: gyros not healthy!"));
}
@ -135,7 +136,7 @@ bool AP_Arming::ins_checks(bool report)
}
return false;
}
if (! ins.get_accel_health_all()) {
if (!ins.get_accel_health_all()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: accels not healthy!"));
}
@ -215,7 +216,7 @@ bool AP_Arming::ins_checks(bool report)
return true;
}
bool AP_Arming::compass_checks(bool report)
bool AP_Arming::compass_checks(bool report)
{
if ((checks_to_perform) & ARMING_CHECK_ALL ||
(checks_to_perform) & ARMING_CHECK_COMPASS) {
@ -240,7 +241,7 @@ bool AP_Arming::compass_checks(bool report)
}
//check if compass is calibrating
if(_compass.is_calibrating()) {
if (_compass.is_calibrating()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("Arm: Compass calibration running"));
}
@ -248,7 +249,7 @@ bool AP_Arming::compass_checks(bool report)
}
//check if compass has calibrated and requires reboot
if(_compass.compass_cal_requires_reboot()) {
if (_compass.compass_cal_requires_reboot()) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass calibrated requires reboot"));
}
@ -284,7 +285,7 @@ bool AP_Arming::compass_checks(bool report)
return true;
}
bool AP_Arming::gps_checks(bool report)
bool AP_Arming::gps_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_GPS)) {
@ -297,20 +298,20 @@ bool AP_Arming::gps_checks(bool report)
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Bad GPS Position"));
}
return false;
}
}
}
return true;
}
bool AP_Arming::battery_checks(bool report)
bool AP_Arming::battery_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_BATTERY)) {
if (AP_Notify::flags.failsafe_battery) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Battery failsafe on."));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Battery failsafe on"));
}
return false;
}
@ -332,7 +333,7 @@ bool AP_Arming::hardware_safety_check(bool report)
return true;
}
bool AP_Arming::manual_transmitter_checks(bool report)
bool AP_Arming::manual_transmitter_checks(bool report)
{
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_RC)) {
@ -352,7 +353,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
return true;
}
bool AP_Arming::pre_arm_checks(bool report)
bool AP_Arming::pre_arm_checks(bool report)
{
bool ret = true;
if (armed || require == NONE) {
@ -374,7 +375,7 @@ bool AP_Arming::pre_arm_checks(bool report)
}
//returns true if arming occured successfully
bool AP_Arming::arm(uint8_t method)
bool AP_Arming::arm(uint8_t method)
{
if (armed) { //already armed
return false;
@ -408,7 +409,7 @@ bool AP_Arming::arm(uint8_t method)
//returns true if disarming occurred successfully
bool AP_Arming::disarm()
{
if (! armed) { // already disarmed
if (!armed) { // already disarmed
return false;
}
armed = false;
@ -425,4 +426,3 @@ AP_Arming::ArmingRequired AP_Arming::arming_required()
{
return (AP_Arming::ArmingRequired)require.get();
}

32
libraries/AP_Arming/AP_Arming.h
View File

@ -61,28 +61,26 @@ public:
void set_logging_available(bool set) { logging_available = set; }
//for params
static const struct AP_Param::GroupInfo var_info[];
protected:
bool armed:1;
bool logging_available:1;
// Parameters
AP_Int8 require;
AP_Int8 rudder_arming_value;
AP_Int16 checks_to_perform; // bitmask for which checks are required
//Parameters
AP_Int8 require;
AP_Int8 rudder_arming_value;
//bitmask for which checks are required
AP_Int16 checks_to_perform;
// references
const AP_AHRS &ahrs;
const AP_Baro &barometer;
Compass &_compass;
const enum HomeState &home_is_set;
//how the vehicle was armed
uint8_t arming_method;
const AP_AHRS &ahrs;
const AP_Baro &barometer;
Compass &_compass;
const enum HomeState &home_is_set;
uint32_t last_accel_pass_ms[INS_MAX_INSTANCES];
uint32_t last_gyro_pass_ms[INS_MAX_INSTANCES];
// internal members
bool armed:1;
bool logging_available:1;
uint8_t arming_method; // how the vehicle was armed
uint32_t last_accel_pass_ms[INS_MAX_INSTANCES];
uint32_t last_gyro_pass_ms[INS_MAX_INSTANCES];
void set_enabled_checks(uint16_t);