Plane: move arming-related functionality into parent classes

Logging moves up
arming via mavlink moves up
arming via switch moves up

ArduPlane/AP_Arming.h

@@ -24,7 +24,14 @@ public:
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
+    bool disarm() override;
+    bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
+
+    void update_soft_armed();
+
 protected:
     bool ins_checks(bool report) override;
 
+private:
+    void change_arm_state(void);
 };

ArduPlane/ArduPlane.cpp

@@ -129,17 +129,17 @@ void Plane::loop()
     G_Dt = scheduler.get_loop_period_s();
 }
 
-void Plane::update_soft_armed()
+void AP_Arming_Plane::update_soft_armed()
 {
-    hal.util->set_soft_armed(arming.is_armed() &&
+    hal.util->set_soft_armed(is_armed() &&
                              hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
-    logger.set_vehicle_armed(hal.util->get_soft_armed());
+    AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
 }
 
 // update AHRS system
 void Plane::ahrs_update()
 {
-    update_soft_armed();
+    arming.update_soft_armed();
 
 #if HIL_SUPPORT
     if (g.hil_mode == 1) {
@@ -668,7 +668,7 @@ void Plane::disarm_if_autoland_complete()
         arming.is_armed()) {
         /* we have auto disarm enabled. See if enough time has passed */
         if (millis() - auto_state.last_flying_ms >= landing.get_disarm_delay()*1000UL) {
-            if (disarm_motors()) {
+            if (arming.disarm()) {
                 gcs().send_text(MAV_SEVERITY_INFO,"Auto disarmed");
             }
         }

ArduPlane/GCS_Mavlink.cpp

@@ -851,22 +851,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
         plane.set_mode(plane.mode_auto, MODE_REASON_GCS_COMMAND);
         return MAV_RESULT_ACCEPTED;
 
-    case MAV_CMD_COMPONENT_ARM_DISARM:
-        if (is_equal(packet.param1,1.0f)) {
-            // run pre_arm_checks and arm_checks and display failures
-            const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value);
-            if (plane.arm_motors(AP_Arming::Method::MAVLINK, do_arming_checks)) {
-                return MAV_RESULT_ACCEPTED;
-            }
-            return MAV_RESULT_FAILED;
-        } else if (is_zero(packet.param1))  {
-            if (plane.disarm_motors()) {
-                return MAV_RESULT_ACCEPTED;
-            }
-            return MAV_RESULT_FAILED;
-        }
-        return MAV_RESULT_UNSUPPORTED;
-
     case MAV_CMD_DO_LAND_START:
         // attempt to switch to next DO_LAND_START command in the mission
         if (plane.mission.jump_to_landing_sequence()) {

ArduPlane/Log.cpp

@@ -210,24 +210,6 @@ void Plane::Log_Write_Sonar()
     logger.WriteBlock(&pkt, sizeof(pkt));
 }
 
-struct PACKED log_Arm_Disarm {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    uint8_t  arm_state;
-    uint16_t arm_checks;
-};
-
-void Plane::Log_Arm_Disarm() {
-    struct log_Arm_Disarm pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
-        time_us                 : AP_HAL::micros64(),
-        arm_state               : arming.is_armed(),
-        arm_checks              : arming.get_enabled_checks()      
-    };
-    logger.WriteCriticalBlock(&pkt, sizeof(pkt));
-}
-
-
 struct PACKED log_AETR {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -276,8 +258,6 @@ const struct LogStructure Plane::log_structure[] = {
       "NTUN", "QfcccfffLLii",  "TimeUS,Dist,TBrg,NavBrg,AltErr,XT,XTi,AspdE,TLat,TLng,TAlt,TAspd", "smddmmmnDUmn", "F0BBB0B0GGBB" },
     { LOG_SONAR_MSG, sizeof(log_Sonar),             
       "SONR", "QffBf",   "TimeUS,Dist,Volt,Cnt,Corr", "smv--", "FB0--" },
-    { LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm),
-      "ARM", "QBH", "TimeUS,ArmState,ArmChecks", "s--", "F--" },
     { LOG_ATRP_MSG, sizeof(AP_AutoTune::log_ATRP),
       "ATRP", "QBBcfff",  "TimeUS,Type,State,Servo,Demanded,Achieved,P", "s---dd-", "F---00-" },
     { LOG_STATUS_MSG, sizeof(log_Status),
@@ -326,7 +306,6 @@ void Plane::Log_Write_Nav_Tuning() {}
 void Plane::Log_Write_Status() {}
 void Plane::Log_Write_Sonar() {}
 
-void Plane::Log_Arm_Disarm() {}
 void Plane::Log_Write_RC(void) {}
 void Plane::Log_Write_Vehicle_Startup_Messages() {}
 

ArduPlane/Plane.h

@@ -829,7 +829,6 @@ private:
     void Log_Write_Nav_Tuning();
     void Log_Write_Status();
     void Log_Write_Sonar();
-    void Log_Arm_Disarm();
     void Log_Write_RC(void);
     void Log_Write_Vehicle_Startup_Messages();
     void Log_Write_AOA_SSA();
@@ -947,9 +946,6 @@ private:
     void startup_INS_ground(void);
     bool should_log(uint32_t mask);
     int8_t throttle_percentage(void);
-    void change_arm_state(void);
-    bool disarm_motors(void);
-    bool arm_motors(AP_Arming::Method method, bool do_arming_checks=true);
     bool auto_takeoff_check(void);
     void takeoff_calc_roll(void);
     void takeoff_calc_pitch(void);
@@ -1052,7 +1048,6 @@ private:
     void publish_osd_info();
 #endif
     void accel_cal_update(void);
-    void update_soft_armed();
 #if SOARING_ENABLED == ENABLED
     void update_soaring();
 #endif

ArduPlane/RC_Channel.cpp

@@ -58,20 +58,6 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
 void RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
 {
     switch(ch_option) {
-    case AUX_FUNC::ARMDISARM:
-        // arm or disarm the vehicle
-        switch (ch_flag) {
-        case HIGH:
-            plane.arm_motors(AP_Arming::Method::AUXSWITCH, true);
-            break;
-        case MIDDLE:
-            // nothing
-            break;
-        case LOW:
-            plane.disarm_motors();
-            break;
-        }
-        break;
     case AUX_FUNC::INVERTED:
         plane.inverted_flight = (ch_flag == HIGH);
         break;

ArduPlane/afs_plane.cpp

@@ -47,7 +47,7 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
     plane.quadplane.afs_terminate();
     
     // also disarm to ensure that ignition is cut
-    plane.disarm_motors();
+    plane.arming.disarm();
 }
 
 void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)

ArduPlane/commands_logic.cpp

@@ -555,7 +555,7 @@ bool Plane::verify_takeoff()
             uint32_t now = AP_HAL::millis();
             if (now - takeoff_state.start_time_ms > (uint32_t)(1000U * g2.takeoff_timeout)) {
                 gcs().send_text(MAV_SEVERITY_INFO, "Takeoff timeout at %.1f m/s", ground_speed);
-                plane.disarm_motors();
+                plane.arming.disarm();
                 mission.reset();
             }
         }

ArduPlane/defines.h

@@ -117,7 +117,6 @@ enum log_messages {
     TYPE_GROUNDSTART_MSG,
     LOG_RC_MSG,
     LOG_SONAR_MSG,
-    LOG_ARM_DISARM_MSG,
     LOG_STATUS_MSG,
     LOG_QTUN_MSG,
     LOG_PARAMTUNE_MSG,
@@ -145,7 +144,7 @@ enum log_messages {
 #define MASK_LOG_CAMERA                 (1<<12)
 #define MASK_LOG_RC                     (1<<13)
 #define MASK_LOG_SONAR                  (1<<14)
-#define MASK_LOG_ARM_DISARM             (1<<15)
+// #define MASK_LOG_ARM_DISARM             (1<<15)
 #define MASK_LOG_IMU_RAW                (1UL<<19)
 
 // altitude control algorithms

ArduPlane/events.cpp

@@ -174,7 +174,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
             snprintf(battery_type_str, 17, "%s battery", type_str);
             afs.gcs_terminate(true, battery_type_str);
 #else
-            disarm_motors();
+            arming.disarm();
 #endif
             break;
 

ArduPlane/is_flying.cpp

@@ -305,7 +305,7 @@ void Plane::crash_detection_update(void)
         }
         else {
             if (aparm.crash_detection_enable & CRASH_DETECT_ACTION_BITMASK_DISARM) {
-                disarm_motors();
+                arming.disarm();
             }
             if (crashed_near_land_waypoint) {
                 gcs().send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected");

ArduPlane/quadplane.cpp

@@ -2543,7 +2543,7 @@ void QuadPlane::check_land_complete(void)
         return;
     }
     if (land_detector(4000)) {
-        plane.disarm_motors();
+        plane.arming.disarm();
         poscontrol.state = QPOS_LAND_COMPLETE;
         gcs().send_text(MAV_SEVERITY_INFO,"Land complete");
         // reload target airspeed which could have been modified by the mission

ArduPlane/radio.cpp

@@ -146,7 +146,7 @@ void Plane::rudder_arm_disarm_check()
                 }
 			} else {
 				//time to arm!
-				arm_motors(AP_Arming::Method::RUDDER);
+				arming.arm(AP_Arming::Method::RUDDER);
 				rudder_arm_timer = 0;
 			}
 		} else {
@@ -165,7 +165,7 @@ void Plane::rudder_arm_disarm_check()
                 }
 			} else {
 				//time to disarm!
-				disarm_motors();
+				arming.disarm();
 				rudder_arm_timer = 0;
 			}
 		} else {

ArduPlane/system.cpp

@@ -456,21 +456,18 @@ int8_t Plane::throttle_percentage(void)
 }
 
 /*
-  update AHRS soft arm state and log as needed
+  update HAL soft arm state and log as needed
- */
+*/
-void Plane::change_arm_state(void)
+void AP_Arming_Plane::change_arm_state(void)
 {
-    Log_Arm_Disarm();
+    Log_Write_Arm_Disarm();
     update_soft_armed();
-    quadplane.set_armed(hal.util->get_soft_armed());
+    plane.quadplane.set_armed(hal.util->get_soft_armed());
 }
 
-/*
+bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_checks)
-  arm motors
- */
-bool Plane::arm_motors(const AP_Arming::Method method, const bool do_arming_checks)
 {
-    if (!arming.arm(method, do_arming_checks)) {
+    if (!AP_Arming::arm(method, do_arming_checks)) {
         return false;
     }
 
@@ -481,18 +478,18 @@ bool Plane::arm_motors(const AP_Arming::Method method, const bool do_arming_chec
 /*
   disarm motors
  */
-bool Plane::disarm_motors(void)
+bool AP_Arming_Plane::disarm(void)
 {
-    if (!arming.disarm()) {
+    if (!AP_Arming::disarm()) {
         return false;
     }
-    if (control_mode != &mode_auto) {
+    if (plane.control_mode != &plane.mode_auto) {
         // reset the mission on disarm if we are not in auto
-        mission.reset();
+        plane.mission.reset();
     }
 
     // suppress the throttle in auto-throttle modes
-    throttle_suppressed = auto_throttle_mode;
+    plane.throttle_suppressed = plane.auto_throttle_mode;
     
     //only log if disarming was successful
     change_arm_state();
@@ -502,10 +499,10 @@ bool Plane::disarm_motors(void)
     
 #if QAUTOTUNE_ENABLED
     //save qautotune gains if enabled and success
-    if (control_mode == &mode_qautotune) {
+    if (plane.control_mode == &plane.mode_qautotune) {
-        quadplane.qautotune.save_tuning_gains();
+        plane.quadplane.qautotune.save_tuning_gains();
     } else {
-        quadplane.qautotune.reset();
+        plane.quadplane.qautotune.reset();
     }
 #endif