ArduPlane/AP_Arming.h

   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     AP_Arming_Plane()
  16         : AP_Arming()
  17     {
  18         AP_Param::setup_object_defaults(this, var_info);
  19     }
  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     bool get_delay_arming() const { return delay_arming; };
  35
  36     // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_CHECK is zero 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     bool mission_checks(bool report) override;
  45
  46     // Checks rc has been received if it is configured to be used
  47     bool rc_received_if_enabled_check(bool display_failure);
  48
  49 private:
  50     void change_arm_state(void);
  51
  52     // oneshot with duration AP_ARMING_DELAY_MS used by quadplane to delay spoolup after arming:
  53     // ignored unless OPTION_DELAY_ARMING or OPTION_TILT_DISARMED is set
  54     bool delay_arming;
  55
  56 #if AP_PLANE_BLACKBOX_LOGGING
  57     AP_Float blackbox_speed;
  58     uint32_t last_over_3dspeed_ms;
  59 #endif
  60 };