AP_Arming: allow checking of pre-arm without reporting

useful for updating AP_Notify LEDs

libraries/AP_Arming/AP_Arming.cpp

@@ -72,12 +72,14 @@ void AP_Arming::set_enabled_checks(uint16_t ap) {
     checks_to_perform = ap;
 }
 
-bool AP_Arming::barometer_checks() 
+bool AP_Arming::barometer_checks(bool report) 
 {
     if ((checks_to_perform & ARMING_CHECK_ALL) ||
         (checks_to_perform & ARMING_CHECK_BARO)) {
         if (! barometer.healthy) {
-            gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Baro not healthy!"));
+            if (report) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Baro not healthy!"));
+            }
             return false;
         }
     }
@@ -85,7 +87,7 @@ bool AP_Arming::barometer_checks()
     return true;
 }
 
-bool AP_Arming::compass_checks() 
+bool AP_Arming::compass_checks(bool report) 
 {
     if ((checks_to_perform) & ARMING_CHECK_ALL ||
         (checks_to_perform) & ARMING_CHECK_COMPASS) {
@@ -94,7 +96,9 @@ bool AP_Arming::compass_checks()
         //if there is no compass and the user has specifically asked to check
         //the compass, then there is a problem
         if (compass == NULL && (checks_to_perform & ARMING_CHECK_COMPASS)) {
-            gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: No compass detected."));
+            if (report) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: No compass detected."));
+            }
             return false;
         } else if (compass == NULL) {
             //if the user's not asking to check and there isn't a compass
@@ -103,13 +107,17 @@ bool AP_Arming::compass_checks()
         }
 
         if (! compass->healthy()) {
-            gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy!"));
+            if (report) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy!"));
+            }
             return false;
         }
         // check compass learning is on or offsets have been set
         Vector3f offsets = compass->get_offsets();
         if(!compass->_learn && offsets.length() == 0) {
-            gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not calibrated"));
+            if (report) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not calibrated"));
+            }
             return false;
         }
         
@@ -118,7 +126,7 @@ bool AP_Arming::compass_checks()
     return true;
 }
 
-bool AP_Arming::gps_checks() 
+bool AP_Arming::gps_checks(bool report) 
 {
     if ((checks_to_perform & ARMING_CHECK_ALL) ||
         (checks_to_perform & ARMING_CHECK_GPS)) {
@@ -127,7 +135,9 @@ bool AP_Arming::gps_checks()
         //If no GPS and the user has specifically asked to check GPS, then
         //there is a problem
         if (gps == NULL && (checks_to_perform & ARMING_CHECK_GPS)) {
-            gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: No GPS detected."));
+            if (report) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: No GPS detected."));
+            }
             return false;
         } else if (gps == NULL) {
             //assume the user doesn't have a GPS on purpose
@@ -138,7 +148,9 @@ bool AP_Arming::gps_checks()
         if (!home_is_set || gps->status() != GPS::GPS_OK_FIX_3D ||              
             AP_Notify::flags.gps_glitching ||
             AP_Notify::flags.failsafe_gps) {
-            gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Bad GPS Pos"));
+            if (report) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Bad GPS Pos"));
+            }
             return false;
         }      
     }
@@ -146,13 +158,15 @@ bool AP_Arming::gps_checks()
     return true;
 }
 
-bool AP_Arming::battery_checks() 
+bool AP_Arming::battery_checks(bool report) 
 {
     if ((checks_to_perform & ARMING_CHECK_ALL) ||
         (checks_to_perform & ARMING_CHECK_BATTERY)) {
 
         if (AP_Notify::flags.failsafe_battery) {
-            gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Battery failsafe on."));
+            if (report) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Battery failsafe on."));
+            }
             return false;
         }
     }
@@ -160,24 +174,28 @@ bool AP_Arming::battery_checks()
     return true;
 }
 
-bool AP_Arming::hardware_safety_check() 
+bool AP_Arming::hardware_safety_check(bool report) 
 {
     // check if safety switch has been pushed
     if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
-        gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Hardware Safety Switch"));
+        if (report) {
+            gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Hardware Safety Switch"));
+        }
         return false;
     }
 
     return true;
 }
 
-bool AP_Arming::manual_transmitter_checks() 
+bool AP_Arming::manual_transmitter_checks(bool report) 
 {
     if ((checks_to_perform & ARMING_CHECK_ALL) ||
         (checks_to_perform & ARMING_CHECK_RC)) {
 
         if (AP_Notify::flags.failsafe_radio) {
-            gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Radio failsafe on."));
+            if (report) {
+                gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Radio failsafe on."));
+            }
             return false;
         }
 
@@ -189,24 +207,30 @@ bool AP_Arming::manual_transmitter_checks()
     return true;
 }
 
-bool AP_Arming::pre_arm_checks() 
+bool AP_Arming::pre_arm_checks(bool report) 
 {
-    if (! hardware_safety_check())
+    if (armed || require == NONE) {
+        // if we are already armed or don't need any arming checks
+        // then skip the checks
+        return true;
+    }
+
+    if (! hardware_safety_check(report))
         return false;
 
-    if (! barometer_checks())
+    if (! barometer_checks(report))
         return false;
 
-    if (! compass_checks())
+    if (! compass_checks(report))
         return false;
 
-    if (! gps_checks())
+    if (! gps_checks(report))
         return false;
 
-    if (! battery_checks())
+    if (! battery_checks(report))
         return false;
 
-    if (! manual_transmitter_checks())
+    if (! manual_transmitter_checks(report))
         return false;
 
     //all checks passed, allow arming!
@@ -228,7 +252,7 @@ bool AP_Arming::arm(uint8_t method)
         return true;
     }
 
-    if (pre_arm_checks()) {
+    if (pre_arm_checks(true)) {
         armed = true;
         arming_method = method;
 

libraries/AP_Arming/AP_Arming.h

@@ -48,6 +48,8 @@ public:
     bool rudder_arming_enabled();
     uint16_t get_enabled_checks();
 
+    bool pre_arm_checks(bool report);
+
     //for params
     static const struct AP_Param::GroupInfo        var_info[];
 
@@ -70,19 +72,17 @@ private:
 
     void set_enabled_checks(uint16_t);
 
-    bool barometer_checks();
-
-    bool compass_checks();
+    bool barometer_checks(bool report);
 
-    bool gps_checks();
+    bool compass_checks(bool report);
 
-    bool battery_checks();
+    bool gps_checks(bool report);
 
-    bool hardware_safety_check();
+    bool battery_checks(bool report);
 
-    bool manual_transmitter_checks();
+    bool hardware_safety_check(bool report);
 
-    bool pre_arm_checks();
+    bool manual_transmitter_checks(bool report);
 };
 
 #endif //__AP_ARMING_H__