Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <AP_Arming/AP_Arming.h>
       4             : 
       5             : class AP_Arming_Copter : public AP_Arming
       6             : {
       7             : public:
       8             :     friend class Copter;
       9             :     friend class ToyMode;
      10             : 
      11        1001 :     AP_Arming_Copter() : AP_Arming()
      12             :     {
      13             :         // default REQUIRE parameter to 1 (Copter does not have an
      14             :         // actual ARMING_REQUIRE parameter)
      15        1001 :         require.set_default((uint8_t)Required::YES_MIN_PWM);
      16        1001 :     }
      17             : 
      18             :     /* Do not allow copies */
      19             :     CLASS_NO_COPY(AP_Arming_Copter);
      20             : 
      21             :     bool rc_calibration_checks(bool display_failure) override;
      22             : 
      23             :     bool disarm(AP_Arming::Method method, bool do_disarm_checks=true) override;
      24             :     bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
      25             : 
      26             : protected:
      27             : 
      28             :     bool pre_arm_checks(bool display_failure) override;
      29             :     bool pre_arm_ekf_attitude_check();
      30             : #if HAL_PROXIMITY_ENABLED
      31             :     bool proximity_checks(bool display_failure) const override;
      32             : #endif
      33             :     bool arm_checks(AP_Arming::Method method) override;
      34             : 
      35             :     // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_SKIPCHK skips all or arming forced
      36             :     bool mandatory_checks(bool display_failure) override;
      37             : 
      38             :     // NOTE! the following check functions *DO* call into AP_Arming:
      39             :     bool ins_checks(bool display_failure) override;
      40             :     bool gps_checks(bool display_failure) override;
      41             :     bool barometer_checks(bool display_failure) override;
      42             :     bool board_voltage_checks(bool display_failure) override;
      43             : 
      44             :     // NOTE! the following check functions *DO NOT* call into AP_Arming!
      45             :     bool parameter_checks(bool display_failure);
      46             :     bool oa_checks(bool display_failure);
      47             :     bool mandatory_position_checks(bool display_failure);
      48             :     bool gcs_failsafe_check(bool display_failure);
      49             :     bool winch_checks(bool display_failure) const;
      50             :     bool alt_checks(bool display_failure);
      51             :     bool rc_throttle_failsafe_checks(bool display_failure) const;
      52             : 
      53             :     void set_pre_arm_check(bool b);
      54             : 
      55             :     // expected to return true if the terrain database is required to have
      56             :     // all data loaded
      57             :     bool terrain_database_required() const override;
      58             : 
      59             : private:
      60             : 
      61             :     // actually contains the pre-arm checks.  This is wrapped so that
      62             :     // we can store away success/failure of the checks.
      63             :     bool run_pre_arm_checks(bool display_failure);
      64             : 
      65             : };