Line data Source code
1 : #pragma once
2 :
3 : #include <AP_HAL/AP_HAL_Boards.h>
4 : #include <AP_HAL/Semaphores.h>
5 : #include <AP_Param/AP_Param.h>
6 : #include <AP_GPS/AP_GPS_config.h>
7 : #include <AP_BoardConfig/AP_BoardConfig_config.h>
8 :
9 : #include "AP_Arming_config.h"
10 : #include "AP_InertialSensor/AP_InertialSensor_config.h"
11 : #include "AP_Proximity/AP_Proximity_config.h"
12 :
13 : class AP_Arming {
14 : public:
15 :
16 : AP_Arming();
17 :
18 : CLASS_NO_COPY(AP_Arming); /* Do not allow copies */
19 :
20 : static AP_Arming *get_singleton();
21 :
22 : __INITFUNC__ void init(void);
23 :
24 : void update();
25 :
26 : enum class Check {
27 : // 0 used to be ALL, though it could be reused as the SKIPCHK conversion
28 : // never sets it. check_mask would also need updating.
29 : BARO = (1U << 1),
30 : COMPASS = (1U << 2),
31 : GPS = (1U << 3),
32 : INS = (1U << 4),
33 : PARAMETERS = (1U << 5),
34 : RC = (1U << 6),
35 : VOLTAGE = (1U << 7),
36 : BATTERY = (1U << 8),
37 : AIRSPEED = (1U << 9),
38 : LOGGING = (1U << 10),
39 : SWITCH = (1U << 11),
40 : GPS_CONFIG = (1U << 12),
41 : SYSTEM = (1U << 13),
42 : MISSION = (1U << 14),
43 : RANGEFINDER = (1U << 15),
44 : CAMERA = (1U << 16),
45 : AUX_AUTH = (1U << 17),
46 : VISION = (1U << 18),
47 : FFT = (1U << 19),
48 : OSD = (1U << 20),
49 : CHECK_LAST = (1U << 21), // must be last
50 : };
51 :
52 : enum class Method {
53 : RUDDER = 0,
54 : MAVLINK = 1,
55 : AUXSWITCH = 2,
56 : MOTORTEST = 3,
57 : SCRIPTING = 4,
58 : TERMINATION = 5, // only disarm uses this...
59 : CPUFAILSAFE = 6, // only disarm uses this...
60 : BATTERYFAILSAFE = 7, // only disarm uses this...
61 : SOLOPAUSEWHENLANDED = 8, // only disarm uses this...
62 : AFS = 9, // only disarm uses this...
63 : ADSBCOLLISIONACTION = 10, // only disarm uses this...
64 : PARACHUTE_RELEASE = 11, // only disarm uses this...
65 : CRASH = 12, // only disarm uses this...
66 : LANDED = 13, // only disarm uses this...
67 : MISSIONEXIT = 14, // only disarm uses this...
68 : FENCEBREACH = 15, // only disarm uses this...
69 : RADIOFAILSAFE = 16, // only disarm uses this...
70 : DISARMDELAY = 17, // only disarm uses this...
71 : GCSFAILSAFE = 18, // only disarm uses this...
72 : TERRRAINFAILSAFE = 19, // only disarm uses this...
73 : FAILSAFE_ACTION_TERMINATE = 20, // only disarm uses this...
74 : TERRAINFAILSAFE = 21, // only disarm uses this...
75 : MOTORDETECTDONE = 22, // only disarm uses this...
76 : BADFLOWOFCONTROL = 23, // only disarm uses this...
77 : EKFFAILSAFE = 24, // only disarm uses this...
78 : GCS_FAILSAFE_SURFACEFAILED = 25, // only disarm uses this...
79 : GCS_FAILSAFE_HOLDFAILED = 26, // only disarm uses this...
80 : TAKEOFFTIMEOUT = 27, // only disarm uses this...
81 : AUTOLANDED = 28, // only disarm uses this...
82 : PILOT_INPUT_FAILSAFE = 29, // only disarm uses this...
83 : TOYMODELANDTHROTTLE = 30, // only disarm uses this...
84 : TOYMODELANDFORCE = 31, // only disarm uses this...
85 : LANDING = 32, // only disarm uses this...
86 : DEADRECKON_FAILSAFE = 33, // only disarm uses this...
87 : BLACKBOX = 34,
88 : DDS = 35,
89 : AUTO_ARM_ONCE = 36,
90 : TURTLE_MODE = 37,
91 : TOYMODE = 38,
92 : UNKNOWN = 100,
93 : };
94 :
95 : enum class Required {
96 : NO = 0,
97 : YES_MIN_PWM = 1,
98 : YES_ZERO_PWM = 2,
99 : YES_AUTO_ARM_MIN_PWM = 3,
100 : YES_AUTO_ARM_ZERO_PWM = 4,
101 : };
102 :
103 : // these functions should not be used by Copter which holds the armed state in the motors library
104 : Required arming_required() const;
105 : virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true);
106 0 : virtual bool arm_force(AP_Arming::Method method) { return arm(method, false); }
107 : virtual bool disarm(AP_Arming::Method method, bool do_disarm_checks=true);
108 : bool is_armed() const;
109 : bool is_armed_and_safety_off() const;
110 :
111 : // Returns the time since boot (in microseconds) that we armed. Returns 0 if disarmed.
112 0 : uint64_t arm_time_us() const { return is_armed() ? last_arm_time_us : 0; }
113 :
114 : // get bitmask of enabled checks
115 : uint32_t get_enabled_checks() const;
116 : // return if all checks are enabled, enabling all changes arming logic slightly
117 : bool all_checks_enabled() const;
118 : // return if all checks are set as skipped, skipping all changes arming logic slightly
119 136228 : bool should_skip_all_checks() const { return get_enabled_checks() == 0; }
120 :
121 : // pre_arm_checks() is virtual so it can be modified in a vehicle specific subclass
122 : virtual bool pre_arm_checks(bool report);
123 11 : bool get_last_prearm_checks_result() const { return last_prearm_checks_result; }
124 :
125 : // some arming checks have side-effects, or require some form of state
126 : // change to have occurred, and thus should not be done as pre-arm
127 : // checks. Those go here:
128 : virtual bool arm_checks(AP_Arming::Method method);
129 :
130 : // get expected magnetic field strength
131 : uint16_t compass_magfield_expected() const;
132 :
133 : // rudder arming support
134 : enum class RudderArming {
135 : IS_DISABLED = 0, // DISABLED leaks in from vehicle defines.h
136 : ARMONLY = 1,
137 : ARMDISARM = 2
138 : };
139 :
140 7744526 : RudderArming get_rudder_arming_type() const { return (RudderArming)_rudder_arming.get(); }
141 :
142 : #if AP_ARMING_AUX_AUTH_ENABLED
143 : // auxiliary authorisation methods
144 : bool get_aux_auth_id(uint8_t& auth_id);
145 : void set_aux_auth_passed(uint8_t auth_id);
146 : void set_aux_auth_failed(uint8_t auth_id, const char* fail_msg);
147 : void reset_all_aux_auths();
148 : #endif
149 :
150 : static const struct AP_Param::GroupInfo var_info[];
151 :
152 : // method that was last used for disarm; invalid unless the
153 : // vehicle has been disarmed at least once.
154 4707 : Method last_disarm_method() const { return _last_disarm_method; }
155 :
156 : // method that was last used for arm; invalid unless the
157 : // vehicle has been disarmed at least once.
158 5303 : Method last_arm_method() const { return _last_arm_method; }
159 :
160 : // enum for ARMING_OPTIONS parameter
161 : enum class Option : int32_t {
162 : DISABLE_PREARM_DISPLAY = (1U << 0),
163 : DISABLE_STATUSTEXT_ON_STATE_CHANGE = (1U << 1),
164 : SKIP_IMU_CONSISTENCY_ICE_RUNNING = (1U << 2),
165 : };
166 216216 : bool option_enabled(Option option) const {
167 216216 : return (_arming_options & uint32_t(option)) != 0;
168 : }
169 :
170 : void send_arm_disarm_statustext(const char *string) const;
171 :
172 1806 : static bool method_is_GCS(Method method) {
173 1806 : return (method == Method::MAVLINK || method == Method::DDS);
174 : }
175 :
176 : enum class RequireLocation : uint8_t {
177 : NO = 0,
178 : YES = 1,
179 : };
180 :
181 : protected:
182 :
183 : // Parameters
184 : AP_Enum<Required> require;
185 : AP_Int32 checks_to_skip; // bitmask for which checks should be skipped
186 : AP_Float accel_error_threshold;
187 : AP_Int8 _rudder_arming;
188 : AP_Int32 _required_mission_items;
189 : AP_Int32 _arming_options;
190 : AP_Int16 magfield_error_threshold;
191 : AP_Enum<RequireLocation> require_location;
192 :
193 : // internal members
194 : bool armed;
195 : uint32_t last_accel_pass_ms;
196 : uint32_t last_gyro_pass_ms;
197 :
198 : virtual bool barometer_checks(bool report);
199 :
200 : bool airspeed_checks(bool report);
201 :
202 : bool logging_checks(bool report);
203 :
204 : #if AP_INERTIALSENSOR_ENABLED
205 : virtual bool ins_checks(bool report);
206 : #endif
207 :
208 : bool compass_checks(bool report);
209 :
210 : virtual bool gps_checks(bool report);
211 :
212 : bool battery_checks(bool report);
213 :
214 : bool hardware_safety_check(bool report);
215 :
216 : virtual bool board_voltage_checks(bool report);
217 :
218 : virtual bool rc_calibration_checks(bool report);
219 :
220 : bool rc_in_calibration_check(bool report);
221 :
222 : bool rc_arm_checks(AP_Arming::Method method);
223 :
224 : bool manual_transmitter_checks(bool report);
225 :
226 : #if AP_MISSION_ENABLED
227 : virtual bool mission_checks(bool report);
228 : #endif // AP_MISSION_ENABLED
229 :
230 : bool terrain_checks(bool report) const;
231 :
232 : // expected to return true if the terrain database is required to have
233 : // all data loaded
234 : virtual bool terrain_database_required() const;
235 :
236 : bool rangefinder_checks(bool report);
237 :
238 : bool fence_checks(bool report);
239 :
240 : #if HAL_HAVE_IMU_HEATER
241 : bool heater_min_temperature_checks(bool report);
242 : #endif
243 :
244 : bool camera_checks(bool display_failure);
245 :
246 : bool osd_checks(bool display_failure) const;
247 :
248 : bool mount_checks(bool display_failure) const;
249 :
250 : #if AP_ARMING_AUX_AUTH_ENABLED
251 : bool aux_auth_checks(bool display_failure);
252 : #endif
253 :
254 : bool generator_checks(bool report) const;
255 :
256 : bool opendroneid_checks(bool display_failure);
257 :
258 : bool serial_protocol_checks(bool display_failure);
259 :
260 : bool estop_checks(bool display_failure);
261 :
262 : #if AP_ARMING_CRASHDUMP_ACK_ENABLED
263 : bool crashdump_checks(bool report);
264 : #endif
265 :
266 : virtual bool system_checks(bool report);
267 :
268 : bool can_checks(bool report);
269 :
270 : bool fettec_checks(bool display_failure) const;
271 :
272 : #if HAL_PROXIMITY_ENABLED
273 : virtual bool proximity_checks(bool report) const;
274 : #endif
275 :
276 : bool servo_checks(bool report) const;
277 : bool rc_checks_copter_sub(bool display_failure, const class RC_Channel *channels[4]) const;
278 :
279 : bool visodom_checks(bool report) const;
280 : bool disarm_switch_checks(bool report) const;
281 :
282 : // mandatory checks that cannot be bypassed. This function will only be called if ARMING_SKIPCHK skips all or arming forced
283 : virtual bool mandatory_checks(bool report);
284 :
285 : // returns true if a particular check is enabled
286 : bool check_enabled(const AP_Arming::Check check) const;
287 : // handle the case where a check fails
288 : void check_failed(const AP_Arming::Check check, bool report, const char *fmt, ...) const FMT_PRINTF(4, 5);
289 : void check_failed(bool report, const char *fmt, ...) const FMT_PRINTF(3, 4);
290 :
291 : void Log_Write_Arm(bool forced, AP_Arming::Method method);
292 : void Log_Write_Disarm(bool forced, AP_Arming::Method method);
293 :
294 : private:
295 :
296 : static AP_Arming *_singleton;
297 :
298 : #if AP_INERTIALSENSOR_ENABLED
299 : bool ins_accels_consistent(const class AP_InertialSensor &ins);
300 : bool ins_gyros_consistent(const class AP_InertialSensor &ins);
301 : #endif
302 :
303 : // check if we should keep logging after disarming
304 : void check_forced_logging(const AP_Arming::Method method);
305 :
306 : enum MIS_ITEM_CHECK {
307 : MIS_ITEM_CHECK_LAND = (1 << 0),
308 : MIS_ITEM_CHECK_VTOL_LAND = (1 << 1),
309 : MIS_ITEM_CHECK_DO_LAND_START = (1 << 2),
310 : MIS_ITEM_CHECK_TAKEOFF = (1 << 3),
311 : MIS_ITEM_CHECK_VTOL_TAKEOFF = (1 << 4),
312 : MIS_ITEM_CHECK_RALLY = (1 << 5),
313 : MIS_ITEM_CHECK_RETURN_TO_LAUNCH = (1 << 6),
314 : MIS_ITEM_CHECK_MAX
315 : };
316 :
317 : #if AP_ARMING_AUX_AUTH_ENABLED
318 : // auxiliary authorisation
319 : static const uint8_t aux_auth_count_max = 3; // maximum number of auxiliary authorisers
320 : static const uint8_t aux_auth_str_len = 42; // maximum length of failure message (50-8 for "PreArm: ")
321 : enum class AuxAuthStates : uint8_t {
322 : NO_RESPONSE = 0,
323 : AUTH_FAILED,
324 : AUTH_PASSED
325 : } aux_auth_state[aux_auth_count_max] = {}; // state of each auxiliary authorisation
326 : uint8_t aux_auth_count; // number of auxiliary authorisers
327 : uint8_t aux_auth_fail_msg_source; // authorisation id who set aux_auth_fail_msg
328 : char* aux_auth_fail_msg; // buffer for holding failure messages
329 : bool aux_auth_error; // true if too many auxiliary authorisers
330 : HAL_Semaphore aux_auth_sem; // semaphore for accessing the aux_auth_state and aux_auth_fail_msg
331 : #endif
332 :
333 : // method that was last used for arm/disarm; invalid unless the
334 : // vehicle has been disarmed at least once.
335 : Method _last_disarm_method = Method::UNKNOWN;
336 : Method _last_arm_method = Method::UNKNOWN;
337 :
338 : uint64_t last_arm_time_us; // last time we successfully armed
339 :
340 : uint32_t last_prearm_display_ms; // last time we send statustexts for prearm failures
341 : bool running_arming_checks; // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle
342 :
343 : bool last_prearm_checks_result; // result of last prearm check
344 : bool report_immediately; // set to true when check goes from true to false, to trigger immediate report
345 :
346 : void update_arm_gpio();
347 :
348 : #if !AP_GPS_BLENDED_ENABLED
349 : bool blending_auto_switch_checks(bool report);
350 : #endif
351 :
352 : #if AP_ARMING_CRASHDUMP_ACK_ENABLED
353 : struct CrashDump {
354 : void check_reset();
355 : AP_Int8 acked;
356 : } crashdump_ack;
357 : #endif // AP_ARMING_CRASHDUMP_ACK_ENABLED
358 :
359 : };
360 :
361 : namespace AP {
362 : AP_Arming &arming();
363 : };
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