ArmAuthorization.h File Reference

#include <stdint.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>

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Enumerations
enum	arm_auth_methods { ARM_AUTH_METHOD_ARM_REQ = 0, ARM_AUTH_METHOD_TWO_ARM_REQ, ARM_AUTH_METHOD_LAST }

Functions
void	arm_auth_init (orb_advert_t *mav_log_pub, uint8_t *system_id)
void	arm_auth_update (hrt_abstime now, bool param_update=true)
uint8_t	arm_auth_check ()
enum arm_auth_methods	arm_auth_method_get ()

Enumeration Type Documentation

arm_auth_methods

enum arm_auth_methods

Enumerator
ARM_AUTH_METHOD_ARM_REQ
ARM_AUTH_METHOD_TWO_ARM_REQ
ARM_AUTH_METHOD_LAST

Definition at line 41 of file ArmAuthorization.h.

Function Documentation

arm_auth_check()

uint8_t arm_auth_check

(

)

Definition at line 171 of file ArmAuthorization.cpp.

References ARM_AUTH_METHOD_LAST, arm_check_method, and arm_parameters.

Referenced by PreFlightCheck::preArmCheck().

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arm_auth_init()

void arm_auth_init	(	orb_advert_t *	mav_log_pub,
		uint8_t *	system_id
	)

Definition at line 276 of file ArmAuthorization.cpp.

References command_ack_sub, mavlink_log_pub, ORB_ID, orb_subscribe(), param_arm_parameters, and param_find().

Referenced by Commander::run().

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arm_auth_method_get()

enum arm_auth_methods arm_auth_method_get

(

)

Definition at line 284 of file ArmAuthorization.cpp.

References arm_parameters.

arm_auth_update()

void arm_auth_update	(	hrt_abstime	now,
		bool	param_update = true
	)

Definition at line 180 of file ArmAuthorization.cpp.

References ARM_AUTH_IDLE, ARM_AUTH_MISSION_APPROVED, ARM_AUTH_WAITING_AUTH, ARM_AUTH_WAITING_AUTH_WITH_ACK, arm_parameters, auth_timeout, vehicle_command_ack_s::command, command_ack_sub, mavlink_log_critical, mavlink_log_pub, orb_check(), orb_copy(), ORB_ID, param_arm_parameters, param_get(), vehicle_command_ack_s::result, vehicle_command_ack_s::result_param1, vehicle_command_ack_s::result_param2, state, and vehicle_command_ack_s::target_system.

Referenced by _auth_method_arm_req_check(), and Commander::run().

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