Copter: use ArmingMethod enumeration

ArduCopter/AP_Arming.cpp

@@ -16,11 +16,11 @@ void AP_Arming_Copter::update(void)
 }
 
 // performs pre-arm checks and arming checks
-bool AP_Arming_Copter::all_checks_passing(bool arming_from_gcs)
+bool AP_Arming_Copter::all_checks_passing(ArmingMethod method)
 {
     set_pre_arm_check(pre_arm_checks(true));
 
-    return copter.ap.pre_arm_check && arm_checks(true, arming_from_gcs);
+    return copter.ap.pre_arm_check && arm_checks(true, method);
 }
 
 // perform pre-arm checks
@@ -504,7 +504,7 @@ bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure)
 // arm_checks - perform final checks before arming
 //  always called just before arming.  Return true if ok to arm
 //  has side-effect that logging is started
-bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
+bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::ArmingMethod method)
 {
     const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
 
@@ -537,7 +537,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
     control_mode_t control_mode = copter.control_mode;
 
     // always check if the current mode allows arming
-    if (!copter.flightmode->allows_arming(arming_from_gcs)) {
+    if (!copter.flightmode->allows_arming(method == AP_Arming::ArmingMethod::MAVLINK)) {
         check_failed(ARMING_CHECK_NONE, display_failure, "Mode not armable");
         return false;
     }
@@ -601,7 +601,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
         }
 
         // check throttle is not too high - skips checks if arming from GCS in Guided
-        if (!(arming_from_gcs && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) {
+        if (!(method == AP_Arming::ArmingMethod::MAVLINK && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) {
             // above top of deadband is too always high
             if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) {
                 check_failed(ARMING_CHECK_RC, display_failure, "%s too high", rc_item);
@@ -624,7 +624,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
     // superclass method should always be the last thing called; it
     // has side-effects which would need to be cleaned up if one of
     // our arm checks failed
-    return AP_Arming::arm_checks(arming_from_gcs);
+    return AP_Arming::arm_checks(method);
 }
 
 void AP_Arming_Copter::set_pre_arm_check(bool b)

ArduCopter/AP_Arming.h

@@ -20,7 +20,7 @@ public:
     AP_Arming_Copter &operator=(const AP_Arming_Copter&) = delete;
 
     void update(void);
-    bool all_checks_passing(bool arming_from_gcs);
+    bool all_checks_passing(ArmingMethod method);
 
     bool rc_calibration_checks(bool display_failure) override;
 
@@ -30,7 +30,7 @@ protected:
     bool pre_arm_ekf_attitude_check();
     bool pre_arm_terrain_check(bool display_failure);
     bool pre_arm_proximity_check(bool display_failure);
-    bool arm_checks(bool display_failure, bool arming_from_gcs);
+    bool arm_checks(bool display_failure, AP_Arming::ArmingMethod method);
 
     // NOTE! the following check functions *DO* call into AP_Arming:
     bool ins_checks(bool display_failure) override;

ArduCopter/Copter.h

@@ -833,7 +833,7 @@ private:
     // motors.cpp
     void arm_motors_check();
     void auto_disarm_check();
-    bool init_arm_motors(bool arming_from_gcs, bool do_arming_checks=true);
+    bool init_arm_motors(AP_Arming::ArmingMethod method, bool do_arming_checks=true);
     void init_disarm_motors();
     void motors_output();
     void lost_vehicle_check();

ArduCopter/GCS_Mavlink.cpp

@@ -963,7 +963,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             if (is_equal(packet.param1,1.0f)) {
                 // attempt to arm and return success or failure
                 const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value);
-                if (copter.init_arm_motors(true, do_arming_checks)) {
+                if (copter.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK, do_arming_checks)) {
                     result = MAV_RESULT_ACCEPTED;
                 }
             } else if (is_zero(packet.param1))  {
@@ -1094,7 +1094,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
 
             if (!copter.motors->armed()) {
                 // if disarmed, arm motors
-                copter.init_arm_motors(true);
+                copter.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK);
             } else if (copter.ap.land_complete) {
                 // if armed and landed, takeoff
                 if (copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {

ArduCopter/motors.cpp

@@ -39,7 +39,7 @@ void Copter::arm_motors_check()
         // arm the motors and configure for flight
         if (arming_counter == ARM_DELAY && !motors->armed()) {
             // reset arming counter if arming fail
-            if (!init_arm_motors(false)) {
+            if (!init_arm_motors(AP_Arming::ArmingMethod::RUDDER)) {
                 arming_counter = 0;
             }
         }
@@ -127,7 +127,7 @@ void Copter::auto_disarm_check()
 
 // init_arm_motors - performs arming process including initialisation of barometer and gyros
 //  returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
-bool Copter::init_arm_motors(const bool arming_from_gcs, const bool do_arming_checks)
+bool Copter::init_arm_motors(const AP_Arming::ArmingMethod method, const bool do_arming_checks)
 {
     static bool in_arm_motors = false;
 
@@ -144,7 +144,7 @@ bool Copter::init_arm_motors(const bool arming_from_gcs, const bool do_arming_ch
     }
 
     // run pre-arm-checks and display failures
-    if (do_arming_checks && !arming.all_checks_passing(arming_from_gcs)) {
+    if (do_arming_checks && !arming.all_checks_passing(method)) {
         AP_Notify::events.arming_failed = true;
         in_arm_motors = false;
         return false;

ArduCopter/switches.cpp

@@ -637,7 +637,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             // arm or disarm the vehicle
             switch (ch_flag) {
             case AUX_SWITCH_HIGH:
-                init_arm_motors(false);
+                init_arm_motors(AP_Arming::ArmingMethod::AUXSWITCH);
                 // remember that we are using an arming switch, for use by set_throttle_zero_flag
                 ap.armed_with_switch = true;
                 break;

ArduCopter/toy_mode.cpp

@@ -424,7 +424,7 @@ void ToyMode::update()
         if (throttle_high_counter >= TOY_LAND_ARM_COUNT) {
             gcs().send_text(MAV_SEVERITY_INFO, "Tmode: throttle arm");
             arm_check_compass();
-            if (!copter.init_arm_motors(true) && (flags & FLAG_UPGRADE_LOITER) && copter.control_mode == LOITER) {
+            if (!copter.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK) && (flags & FLAG_UPGRADE_LOITER) && copter.control_mode == LOITER) {
                 /*
                   support auto-switching to ALT_HOLD, then upgrade to LOITER once GPS available
                  */
@@ -433,7 +433,7 @@ void ToyMode::update()
 #if AC_FENCE == ENABLED
                     copter.fence.enable(false);
 #endif
-                    if (!copter.init_arm_motors(true)) {
+                    if (!copter.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK)) {
                         // go back to LOITER
                         gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: ALT_HOLD arm failed");
                         set_and_remember_mode(LOITER, MODE_REASON_TMODE);
@@ -625,7 +625,7 @@ void ToyMode::update()
 #if AC_FENCE == ENABLED
             copter.fence.enable(false);
 #endif
-            if (copter.init_arm_motors(true)) {
+            if (copter.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK)) {
                 load_test.running = true;
                 gcs().send_text(MAV_SEVERITY_INFO, "Tmode: load_test on");
             } else {
@@ -803,7 +803,7 @@ void ToyMode::action_arm(void)
         // we want GPS and checks are passing, arm and enable fence
         copter.fence.enable(true);
 #endif
-        copter.init_arm_motors(false);
+        copter.init_arm_motors(AP_Arming::ArmingMethod::RUDDER);
         if (!copter.motors->armed()) {
             AP_Notify::events.arming_failed = true;
             gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: GPS arming failed");
@@ -819,7 +819,7 @@ void ToyMode::action_arm(void)
         // non-GPS mode
         copter.fence.enable(false);
 #endif
-        copter.init_arm_motors(false);
+        copter.init_arm_motors(AP_Arming::ArmingMethod::RUDDER);
         if (!copter.motors->armed()) {
             AP_Notify::events.arming_failed = true;
             gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: non-GPS arming failed");