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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/ArduCopter/AP_Arming.h
Views: 1798
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#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((uint8_t)Required::YES_MIN_PWM);

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    }

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    /* Do not allow copies */

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    CLASS_NO_COPY(AP_Arming_Copter);

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    bool rc_calibration_checks(bool display_failure) override;

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    bool disarm(AP_Arming::Method method, bool do_disarm_checks=true) override;

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    bool arm(AP_Arming::Method method, bool do_arming_checks=true) 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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#if HAL_PROXIMITY_ENABLED

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    bool proximity_checks(bool display_failure) const override;

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#endif

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    bool arm_checks(AP_Arming::Method method) override;

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    // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_CHECK is zero or arming forced

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    bool mandatory_checks(bool display_failure) override;

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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 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 parameter_checks(bool display_failure);

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    bool oa_checks(bool display_failure);

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    bool mandatory_gps_checks(bool display_failure);

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    bool gcs_failsafe_check(bool display_failure);

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    bool winch_checks(bool display_failure) const;

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    bool alt_checks(bool display_failure);

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    bool rc_throttle_failsafe_checks(bool display_failure) const;

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    void set_pre_arm_check(bool b);

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    // expected to return true if the terrain database is required to have

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    // all data loaded

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    bool terrain_database_required() const override;

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private:

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    // actually contains the pre-arm checks.  This is wrapped so that

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    // we can store away success/failure of the checks.

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    bool run_pre_arm_checks(bool display_failure);

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};

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