Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <AP_Arming/AP_Arming.h>
       4             : 
       5             : #ifndef AP_PLANE_BLACKBOX_LOGGING
       6             : #define AP_PLANE_BLACKBOX_LOGGING 0
       7             : #endif
       8             : 
       9             : /*
      10             :   a plane specific arming class
      11             :  */
      12             : class AP_Arming_Plane : public AP_Arming
      13             : {
      14             : public:
      15         692 :     AP_Arming_Plane()
      16         692 :         : AP_Arming()
      17             :     {
      18         692 :         AP_Param::setup_object_defaults(this, var_info);
      19         692 :     }
      20             : 
      21             :     /* Do not allow copies */
      22             :     CLASS_NO_COPY(AP_Arming_Plane);
      23             : 
      24             :     bool pre_arm_checks(bool report) override;
      25             :     bool arm_checks(AP_Arming::Method method) override;
      26             : 
      27             :     // var_info for holding Parameter information
      28             :     static const struct AP_Param::GroupInfo var_info[];
      29             : 
      30             :     bool disarm(AP_Arming::Method method, bool do_disarm_checks=true) override;
      31             :     bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
      32             : 
      33             :     void update_soft_armed();
      34      623139 :     bool get_delay_arming() const { return delay_arming; };
      35             : 
      36             :     // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_SKIPCHK skips all or arming forced
      37             :     bool mandatory_checks(bool display_failure) override;
      38             : 
      39             : protected:
      40             :     bool ins_checks(bool report) override;
      41             :     bool terrain_database_required() const override;
      42             : 
      43             :     bool quadplane_checks(bool display_failure);
      44             : #if AP_MISSION_ENABLED
      45             :     bool mission_checks(bool report) override;
      46             : #endif  // AP_MISSION_ENABLED
      47             : 
      48             :     // Checks rc has been received if it is configured to be used
      49             :     bool rc_received_if_enabled_check(bool display_failure);
      50             : 
      51             : private:
      52             :     void change_arm_state(void);
      53             : 
      54             :     // oneshot with duration AP_ARMING_DELAY_MS used by quadplane to delay spoolup after arming:
      55             :     // ignored unless OPTION_DELAY_ARMING or OPTION_TILT_DISARMED is set
      56             :     bool delay_arming;
      57             : 
      58             : #if AP_PLANE_BLACKBOX_LOGGING
      59             :     AP_Float blackbox_speed;
      60             :     uint32_t last_over_3dspeed_ms;
      61             : #endif
      62             : };