#include <AP_Arming.h>

Inheritance diagram for AP_Arming_Copter:

Collaboration diagram for AP_Arming_Copter:

Public Member Functions
	AP_Arming_Copter (const AP_AHRS_NavEKF &ahrs_ref, Compass &compass, const AP_BattMonitor &battery, const AP_InertialNav_NavEKF &inav)

	AP_Arming_Copter (const AP_Arming_Copter &other)=delete

AP_Arming_Copter &	operator= (const AP_Arming_Copter &)=delete

void	update (void)

bool	all_checks_passing (bool arming_from_gcs)

bool	rc_calibration_checks (bool display_failure) override

Public Member Functions inherited from AP_Arming
ArmingRequired	arming_required ()

virtual bool	arm (uint8_t method)

bool	disarm ()

bool	is_armed ()

uint16_t	get_enabled_checks ()

bool	arm_checks (uint8_t method)

uint16_t	compass_magfield_expected () const

Protected Member Functions
bool	pre_arm_checks (bool display_failure) override

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	ins_checks (bool display_failure) override

bool	compass_checks (bool display_failure) override

bool	gps_checks (bool display_failure) override

bool	barometer_checks (bool display_failure) override

bool	board_voltage_checks (bool display_failure) override

bool	fence_checks (bool display_failure)

bool	parameter_checks (bool display_failure)

bool	motor_checks (bool display_failure)

bool	pilot_throttle_checks (bool display_failure)

void	set_pre_arm_check (bool b)

Protected Member Functions inherited from AP_Arming
	AP_Arming (const AP_AHRS &ahrs_ref, Compass &compass, const AP_BattMonitor &battery)

bool	airspeed_checks (bool report)

bool	logging_checks (bool report)

bool	battery_checks (bool report)

bool	hardware_safety_check (bool report)

bool	manual_transmitter_checks (bool report)

bool	servo_checks (bool report) const

bool	rc_checks_copter_sub (bool display_failure, const RC_Channel *channels[4], const bool check_min_max=true) const

Private Member Functions
void	parameter_checks_pid_warning_message (bool display_failure, const char *error_msg)

Private Attributes
const AP_InertialNav_NavEKF &	_inav

const AP_AHRS_NavEKF &	_ahrs_navekf

Friends
class	Copter

class	ToyMode

Additional Inherited Members
Public Types inherited from AP_Arming
enum	ArmingChecks

enum	ArmingMethod

enum	ArmingRequired

Public Attributes inherited from AP_Arming
	ARMING_CHECK_NONE

	ARMING_CHECK_ALL

	ARMING_CHECK_BARO

	ARMING_CHECK_COMPASS

	ARMING_CHECK_GPS

	ARMING_CHECK_INS

	ARMING_CHECK_PARAMETERS

	ARMING_CHECK_RC

	ARMING_CHECK_VOLTAGE

	ARMING_CHECK_BATTERY

	ARMING_CHECK_AIRSPEED

	ARMING_CHECK_LOGGING

	ARMING_CHECK_SWITCH

	ARMING_CHECK_GPS_CONFIG

	NONE

	RUDDER

	MAVLINK

	NO

	YES_MIN_PWM

	YES_ZERO_PWM

Static Public Attributes inherited from AP_Arming
static const struct AP_Param::GroupInfo	var_info []

Protected Attributes inherited from AP_Arming
AP_Int8	require

AP_Int16	checks_to_perform

AP_Float	accel_error_threshold

AP_Float	_min_voltage [AP_BATT_MONITOR_MAX_INSTANCES]

const AP_AHRS &	ahrs

Compass &	_compass

const AP_BattMonitor &	_battery

bool	armed

bool	logging_available

uint8_t	arming_method

uint32_t	last_accel_pass_ms [INS_MAX_INSTANCES]

uint32_t	last_gyro_pass_ms [INS_MAX_INSTANCES]

Detailed Description

Definition at line 5 of file AP_Arming.h.

Constructor & Destructor Documentation

◆ AP_Arming_Copter() [1/2]

AP_Arming_Copter::AP_Arming_Copter	(	const AP_AHRS_NavEKF &	ahrs_ref,
		Compass &	compass,
		const AP_BattMonitor &	battery,
		const AP_InertialNav_NavEKF &	inav
	)

inline

Definition at line 10 of file AP_Arming.h.

Here is the call graph for this function:

◆ AP_Arming_Copter() [2/2]

AP_Arming_Copter::AP_Arming_Copter ( const AP_Arming_Copter & other )

delete

Member Function Documentation

◆ all_checks_passing()

bool AP_Arming_Copter::all_checks_passing ( bool arming_from_gcs )

Definition at line 19 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter(), and Copter::init_arm_motors().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ arm_checks()

bool AP_Arming_Copter::arm_checks	(	bool	display_failure,
		bool	arming_from_gcs
	)

protected

Definition at line 548 of file AP_Arming.cpp.

Referenced by all_checks_passing(), and AP_Arming_Copter().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ barometer_checks()

bool AP_Arming_Copter::barometer_checks ( bool display_failure )

overrideprotectedvirtual

Reimplemented from AP_Arming.

Definition at line 66 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ board_voltage_checks()

bool AP_Arming_Copter::board_voltage_checks ( bool display_failure )

overrideprotectedvirtual

Reimplemented from AP_Arming.

Definition at line 143 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ compass_checks()

bool AP_Arming_Copter::compass_checks ( bool display_failure )

overrideprotectedvirtual

Reimplemented from AP_Arming.

Definition at line 92 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ fence_checks()

bool AP_Arming_Copter::fence_checks ( bool display_failure )

protected

Definition at line 110 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter(), and pre_arm_checks().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ gps_checks()

bool AP_Arming_Copter::gps_checks ( bool display_failure )

overrideprotectedvirtual

Reimplemented from AP_Arming.

Definition at line 365 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ins_checks()

bool AP_Arming_Copter::ins_checks ( bool display_failure )

overrideprotectedvirtual

Reimplemented from AP_Arming.

Definition at line 125 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ motor_checks()

bool AP_Arming_Copter::motor_checks ( bool display_failure )

protected

Definition at line 317 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter(), arm_checks(), and pre_arm_checks().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ operator=()

AP_Arming_Copter& AP_Arming_Copter::operator= ( const AP_Arming_Copter & )

delete

Referenced by AP_Arming_Copter().

Here is the caller graph for this function:

◆ parameter_checks()

bool AP_Arming_Copter::parameter_checks ( bool display_failure )

protected

Definition at line 167 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter(), and pre_arm_checks().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ parameter_checks_pid_warning_message()

void AP_Arming_Copter::parameter_checks_pid_warning_message	(	bool	display_failure,
		const char *	error_msg
	)

private

Definition at line 309 of file AP_Arming.cpp.

Referenced by parameter_checks().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ pilot_throttle_checks()

bool AP_Arming_Copter::pilot_throttle_checks ( bool display_failure )

protected

Definition at line 329 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter(), and pre_arm_checks().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ pre_arm_checks()

bool AP_Arming_Copter::pre_arm_checks ( bool display_failure )

overrideprotectedvirtual

Reimplemented from AP_Arming.

Definition at line 28 of file AP_Arming.cpp.

Referenced by all_checks_passing(), AP_Arming_Copter(), and update().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ pre_arm_ekf_attitude_check()

bool AP_Arming_Copter::pre_arm_ekf_attitude_check ( )

protected

Definition at line 469 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter(), and ins_checks().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ pre_arm_proximity_check()

bool AP_Arming_Copter::pre_arm_proximity_check ( bool display_failure )

protected

Definition at line 508 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter(), and parameter_checks().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ pre_arm_terrain_check()

bool AP_Arming_Copter::pre_arm_terrain_check ( bool display_failure )

protected

Definition at line 478 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter(), and parameter_checks().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ rc_calibration_checks()

bool AP_Arming_Copter::rc_calibration_checks ( bool display_failure )

overridevirtual

Reimplemented from AP_Arming.

Definition at line 349 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter(), Copter::esc_calibration_startup_check(), Copter::init_ardupilot(), Copter::mavlink_compassmot(), and Copter::mavlink_motor_test_check().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ set_pre_arm_check()

void AP_Arming_Copter::set_pre_arm_check ( bool b )

protected

Definition at line 697 of file AP_Arming.cpp.

Referenced by all_checks_passing(), AP_Arming_Copter(), and update().

Here is the caller graph for this function:

◆ update()

void AP_Arming_Copter::update ( void )

Definition at line 4 of file AP_Arming.cpp.

Referenced by AP_Arming_Copter(), and Copter::one_hz_loop().

Here is the call graph for this function:

Here is the caller graph for this function:

Friends And Related Function Documentation

◆ Copter

friend class Copter

friend

Definition at line 8 of file AP_Arming.h.

◆ ToyMode

friend class ToyMode

friend

Definition at line 9 of file AP_Arming.h.

Member Data Documentation

◆ _ahrs_navekf

const AP_AHRS_NavEKF& AP_Arming_Copter::_ahrs_navekf

private

Definition at line 53 of file AP_Arming.h.

Referenced by gps_checks().

◆ _inav

const AP_InertialNav_NavEKF& AP_Arming_Copter::_inav

private

Definition at line 52 of file AP_Arming.h.

Referenced by barometer_checks(), and pre_arm_ekf_attitude_check().

The documentation for this class was generated from the following files:

ArduCopter/AP_Arming.h
ArduCopter/AP_Arming.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_Arming_Copter() [1/2]

◆ AP_Arming_Copter() [2/2]

Member Function Documentation

◆ all_checks_passing()

◆ arm_checks()

◆ barometer_checks()

◆ board_voltage_checks()

◆ compass_checks()

◆ fence_checks()

◆ gps_checks()

◆ ins_checks()

◆ motor_checks()

◆ operator=()

◆ parameter_checks()

◆ parameter_checks_pid_warning_message()

◆ pilot_throttle_checks()

◆ pre_arm_checks()

◆ pre_arm_ekf_attitude_check()

◆ pre_arm_proximity_check()

◆ pre_arm_terrain_check()

◆ rc_calibration_checks()

◆ set_pre_arm_check()

◆ update()

Friends And Related Function Documentation

◆ Copter

◆ ToyMode

Member Data Documentation

◆ _ahrs_navekf

◆ _inav