C++ (Cpp) DataFlash_Class::PrepForArming示例

bool AP_Arming::arm_checks(ArmingMethod method)
{
    // ensure the GPS drivers are ready on any final changes
    if ((checks_to_perform & ARMING_CHECK_ALL) ||
        (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {
        if (!AP::gps().prepare_for_arming()) {
            return false;
        }
    }

    // check system health on arm as well as prearm
    if ((checks_to_perform & ARMING_CHECK_ALL) ||
        (checks_to_perform & ARMING_CHECK_SYSTEM)) {
        if (!system_checks(true)) {
            return false;
        }
    }
    
    // note that this will prepare DataFlash to start logging
    // so should be the last check to be done before arming
    if ((checks_to_perform & ARMING_CHECK_ALL) ||
        (checks_to_perform & ARMING_CHECK_LOGGING)) {
        DataFlash_Class *df = DataFlash_Class::instance();
        df->PrepForArming();
        if (!df->logging_started()) {
            check_failed(ARMING_CHECK_LOGGING, true, "Logging not started");
            return false;
        }
    }
    return true;
}

示例#2

显示文件

文件： AP_Arming.cpp 项目： Swift-Flyer/ardupilot

bool AP_Arming::arm_checks(uint8_t method)
{
    // ensure the GPS drivers are ready on any final changes
    if ((checks_to_perform & ARMING_CHECK_ALL) ||
        (checks_to_perform & ARMING_CHECK_GPS_CONFIG)) {
        if (!AP::gps().prepare_for_arming()) {
            return false;
        }
    }

    // note that this will prepare DataFlash to start logging
    // so should be the last check to be done before arming
    if ((checks_to_perform & ARMING_CHECK_ALL) ||
        (checks_to_perform & ARMING_CHECK_LOGGING)) {
        DataFlash_Class *df = DataFlash_Class::instance();
        df->PrepForArming();
        if (!df->logging_started()) {
            gcs().send_text(MAV_SEVERITY_CRITICAL, "Arm: Logging not started");
            return false;
        }
    }
    return true;
}