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52 lines
1.6 KiB
52 lines
1.6 KiB
#pragma once |
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#include <AP_Arming/AP_Arming.h> |
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class AP_Arming_Copter : public AP_Arming |
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{ |
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public: |
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friend class Copter; |
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friend class ToyMode; |
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AP_Arming_Copter() : AP_Arming() |
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{ |
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// default REQUIRE parameter to 1 (Copter does not have an |
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// actual ARMING_REQUIRE parameter) |
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require.set_default(YES_MIN_PWM); |
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} |
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/* Do not allow copies */ |
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AP_Arming_Copter(const AP_Arming_Copter &other) = delete; |
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AP_Arming_Copter &operator=(const AP_Arming_Copter&) = delete; |
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void update(void); |
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bool all_checks_passing(ArmingMethod method); |
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bool rc_calibration_checks(bool display_failure) override; |
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protected: |
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bool pre_arm_checks(bool display_failure) override; |
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bool pre_arm_ekf_attitude_check(); |
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bool pre_arm_terrain_check(bool display_failure); |
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bool pre_arm_proximity_check(bool display_failure); |
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bool arm_checks(bool display_failure, AP_Arming::ArmingMethod method); |
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// NOTE! the following check functions *DO* call into AP_Arming: |
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bool ins_checks(bool display_failure) override; |
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bool compass_checks(bool display_failure) override; |
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bool gps_checks(bool display_failure) override; |
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bool barometer_checks(bool display_failure) override; |
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bool board_voltage_checks(bool display_failure) override; |
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// NOTE! the following check functions *DO NOT* call into AP_Arming! |
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bool fence_checks(bool display_failure); |
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bool parameter_checks(bool display_failure); |
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bool motor_checks(bool display_failure); |
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bool pilot_throttle_checks(bool display_failure); |
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void set_pre_arm_check(bool b); |
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private: |
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};
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