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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/ArduPlane/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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#ifndef AP_PLANE_BLACKBOX_LOGGING

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#define AP_PLANE_BLACKBOX_LOGGING 0

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#endif

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/*

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  a plane specific arming class

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 */

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class AP_Arming_Plane : public AP_Arming

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{

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public:

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    AP_Arming_Plane()

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        : AP_Arming()

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    {

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        AP_Param::setup_object_defaults(this, var_info);

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    }

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    /* Do not allow copies */

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    CLASS_NO_COPY(AP_Arming_Plane);

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    bool pre_arm_checks(bool report) override;

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    bool arm_checks(AP_Arming::Method method) override;

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    // var_info for holding Parameter information

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    static const struct AP_Param::GroupInfo var_info[];

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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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    void update_soft_armed();

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    bool get_delay_arming() const { return delay_arming; };

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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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protected:

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    bool ins_checks(bool report) override;

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    bool terrain_database_required() const override;

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    bool quadplane_checks(bool display_failure);

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    bool mission_checks(bool report) override;

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    // Checks rc has been received if it is configured to be used

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    bool rc_received_if_enabled_check(bool display_failure);

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private:

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    void change_arm_state(void);

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    // oneshot with duration AP_ARMING_DELAY_MS used by quadplane to delay spoolup after arming:

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    // ignored unless OPTION_DELAY_ARMING or OPTION_TILT_DISARMED is set

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    bool delay_arming;

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#if AP_PLANE_BLACKBOX_LOGGING

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    AP_Float blackbox_speed;

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    uint32_t last_over_3dspeed_ms;

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#endif

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};

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