From 84021495725b63a819f1a4d3a5773ede05b45531 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 10 May 2022 17:53:32 +1000
Subject: [PATCH] AP_Vehicle: run prearm checks on all vehicles @1Hz,
 displaying @0.0333Hz

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 7 +++++++
 libraries/AP_Vehicle/AP_Vehicle.h   | 3 +++
 2 files changed, 10 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 324763a4b3..284b477c98 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -304,6 +304,7 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if HAL_EFI_ENABLED
     SCHED_TASK_CLASS(AP_EFI,       &vehicle.efi,            update,                   10, 200, 250),
 #endif
+    SCHED_TASK(update_arming,          1,     50, 253),
 };
 
 void AP_Vehicle::get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks)
@@ -592,6 +593,12 @@ void AP_Vehicle::accel_cal_update()
 }
 #endif // HAL_INS_ACCELCAL_ENABLED
 
+// call the arming library's update function
+void AP_Vehicle::update_arming()
+{
+    AP::arming().update();
+}
+
 AP_Vehicle *AP_Vehicle::_singleton = nullptr;
 
 AP_Vehicle *AP_Vehicle::get_singleton()
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 3102f79535..e5e144c327 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -393,6 +393,9 @@ protected:
     void accel_cal_update();
 #endif
 
+    // call the arming library's update function
+    void update_arming();
+
     ModeReason control_mode_reason = ModeReason::UNKNOWN;
 
 #if AP_SIM_ENABLED