preArmCheck.cpp

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#include "../PreFlightCheck.hpp"

#include <ArmAuthorization.h>
#include <systemlib/mavlink_log.h>
#include <uORB/topics/vehicle_command_ack.h>

bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
                 const safety_s &safety, const uint8_t arm_requirements)
{
    bool prearm_ok = true;

    // USB not connected
    if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
        mavlink_log_critical(mavlink_log_pub, "Arming denied! Flying with USB is not safe");

        prearm_ok = false;
    }

    // battery and system power status
    if (!status_flags.circuit_breaker_engaged_power_check) {

        // Fail transition if power is not good
        if (!status_flags.condition_power_input_valid) {
            mavlink_log_critical(mavlink_log_pub, "Arming denied! Connect power module");

            prearm_ok = false;
        }

        // main battery level
        if (!status_flags.condition_battery_healthy) {
            if (prearm_ok) {
                mavlink_log_critical(mavlink_log_pub, "Arming denied! Check battery");
            }

            prearm_ok = false;
        }
    }

    // Arm Requirements: mission
    if (arm_requirements & ARM_REQ_MISSION_BIT) {

        if (!status_flags.condition_auto_mission_available) {
            if (prearm_ok) {
                mavlink_log_critical(mavlink_log_pub, "Arming denied! No valid mission");
            }

            prearm_ok = false;
        }

        if (!status_flags.condition_global_position_valid) {
            if (prearm_ok) {
                mavlink_log_critical(mavlink_log_pub, "Arming denied! Missions require a global position");
            }

            prearm_ok = false;
        }
    }

    // Arm Requirements: global position
    if (arm_requirements & ARM_REQ_GPS_BIT) {

        if (!status_flags.condition_global_position_valid) {
            if (prearm_ok) {
                mavlink_log_critical(mavlink_log_pub, "Arming denied! Global position required");
            }

            prearm_ok = false;
        }
    }

    // safety button
    if (safety.safety_switch_available && !safety.safety_off) {
        // Fail transition if we need safety switch press
        if (prearm_ok) {
            mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety switch first");
        }

        prearm_ok = false;
    }

    if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
        if (prearm_ok) {
            mavlink_log_critical(mavlink_log_pub, "Arming denied! Avoidance system not ready");
        }

        prearm_ok = false;

    }

    if (status_flags.condition_escs_error && (arm_requirements & ARM_REQ_ESCS_CHECK_BIT)) {
        if (prearm_ok) {
            mavlink_log_critical(mavlink_log_pub, "Arming denied! One or more ESCs are offline");
            prearm_ok = false;
        }
    }

    // Arm Requirements: authorization
    // check last, and only if everything else has passed
    if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT) && prearm_ok) {
        if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
            // feedback provided in arm_auth_check
            prearm_ok = false;
        }
    }


    return prearm_ok;
}