AP_Arming: turn ARMING_CHECK into ARMING_SKIPCHK

ArduCopter/AP_Arming_Copter.cpp

@@ -69,7 +69,7 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
     }
 
     // if pre arm checks are disabled run only the mandatory checks
-    if (checks_to_perform == 0) {
+    if (all_checks_skipped()) {
         return mandatory_checks(display_failure);
     }
 
@@ -595,7 +595,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
     }
 
     // succeed if arming checks are disabled
-    if (checks_to_perform == 0) {
+    if (all_checks_skipped()) {
         return true;
     }
 
@@ -653,7 +653,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
     return AP_Arming::arm_checks(method);
 }
 
-// mandatory checks that will be run if ARMING_CHECK is zero or arming forced
+// mandatory checks that will be run if ARMING_SKIPCHK skips all or arming forced
 bool AP_Arming_Copter::mandatory_checks(bool display_failure)
 {
     // call mandatory gps checks and update notify status because regular gps checks will not run

ArduCopter/AP_Arming_Copter.h

@@ -32,7 +32,7 @@ class AP_Arming_Copter : public AP_Arming
 #endif
     bool arm_checks(AP_Arming::Method method) override;
 
-    // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_CHECK is zero or arming forced
+    // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_SKIPCHK skips all or arming forced
     bool mandatory_checks(bool display_failure) override;
 
     // NOTE! the following check functions *DO* call into AP_Arming:

ArduPlane/AP_Arming_Plane.cpp

@@ -55,8 +55,8 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
         check_failed(display_failure, "System not initialised");
         return false;
     }
-    //are arming checks disabled?
-    if (checks_to_perform == 0) {
+    // are arming checks disabled?
+    if (all_checks_skipped()) {
         return mandatory_checks(display_failure);
     }
     if (hal.util->was_watchdog_armed()) {
@@ -258,8 +258,8 @@ bool AP_Arming_Plane::ins_checks(bool display_failure)
 bool AP_Arming_Plane::arm_checks(AP_Arming::Method method)
 {
 
-    //are arming checks disabled?
-    if (checks_to_perform == 0) {
+    // are arming checks disabled?
+    if (all_checks_skipped()) {
         return true;
     }
 

ArduPlane/AP_Arming_Plane.h

@@ -33,7 +33,7 @@ class AP_Arming_Plane : public AP_Arming
     void update_soft_armed();
     bool get_delay_arming() const { return delay_arming; };
 
-    // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_CHECK is zero or arming forced
+    // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_SKIPCHK skips all or arming forced
     bool mandatory_checks(bool display_failure) override;
 
 protected:

ArduSub/Parameters.cpp

@@ -811,7 +811,6 @@ const AP_Param::ConversionInfo conversion_table[] = {
     { Parameters::k_param_fs_batt_mah,       0,      AP_PARAM_FLOAT,  "BATT_LOW_MAH" },
     { Parameters::k_param_failsafe_battery_enabled,       0,      AP_PARAM_INT8,  "BATT_FS_LOW_ACT" },
     { Parameters::k_param_compass_enabled_deprecated,       0,      AP_PARAM_INT8, "COMPASS_ENABLE" },
-    { Parameters::k_param_arming,            2,     AP_PARAM_INT16,  "ARMING_CHECK" },
 };
 
 void Sub::load_parameters()

ArduSub/Parameters.h

@@ -418,9 +418,10 @@ extern const AP_Param::Info        var_info[];
 // Sub-specific default parameters
 static const struct AP_Param::defaults_table_struct defaults_table[] = {
     { "BRD_SAFETY_DEFLT",    0 },
-    { "ARMING_CHECK",        uint32_t(AP_Arming::Check::RC) |
-                             uint32_t(AP_Arming::Check::VOLTAGE) |
-                             uint32_t(AP_Arming::Check::BATTERY)},
+    { "ARMING_SKIPCHK",      (~(uint32_t(AP_Arming::Check::RC) |
+                                uint32_t(AP_Arming::Check::VOLTAGE) |
+                                uint32_t(AP_Arming::Check::BATTERY))
+                               ) & ((1U<<24)-1)}, // keep within float range but disable future checks
     { "CIRCLE_RATE",         2.0f},
     { "ATC_ACCEL_Y_MAX",     110000.0f},
     { "ATC_RATE_Y_MAX",      180.0f},

Blimp/AP_Arming_Blimp.cpp

@@ -30,7 +30,7 @@ bool AP_Arming_Blimp::run_pre_arm_checks(bool display_failure)
     }
 
     // if pre arm checks are disabled run only the mandatory checks
-    if (checks_to_perform == 0) {
+    if (all_checks_skipped()) {
         return mandatory_checks(display_failure);
     }
 
@@ -266,7 +266,7 @@ bool AP_Arming_Blimp::arm_checks(AP_Arming::Method method)
     return AP_Arming::arm_checks(method);
 }
 
-// mandatory checks that will be run if ARMING_CHECK is zero or arming forced
+// mandatory checks that will be run if ARMING_SKIPCHK skips all or arming forced
 bool AP_Arming_Blimp::mandatory_checks(bool display_failure)
 {
     // call mandatory gps checks and update notify status because regular gps checks will not run

Blimp/AP_Arming_Blimp.h

@@ -29,7 +29,7 @@ class AP_Arming_Blimp : public AP_Arming
     bool pre_arm_ekf_attitude_check();
     bool arm_checks(AP_Arming::Method method) override;
 
-    // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_CHECK is zero or arming forced
+    // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_SKIPCHK skips all or arming forced
     bool mandatory_checks(bool display_failure) override;
 
     // NOTE! the following check functions *DO* call into AP_Arming:

Rover/AP_Arming_Rover.cpp

@@ -83,8 +83,8 @@ bool AP_Arming_Rover::pre_arm_checks(bool report)
         return false;
     }
 
-    //are arming checks disabled?
-    if (checks_to_perform == 0) {
+    // are arming checks disabled?
+    if (all_checks_skipped()) {
         return mandatory_checks(report);
     }
 
@@ -115,8 +115,8 @@ bool AP_Arming_Rover::arm_checks(AP_Arming::Method method)
         }
     }
 
-    //are arming checks disabled?
-    if (checks_to_perform == 0) {
+    // are arming checks disabled?
+    if (all_checks_skipped()) {
         return true;
     }
     return AP_Arming::arm_checks(method);

Rover/Parameters.cpp

@@ -735,7 +735,6 @@ const AP_Param::ConversionInfo conversion_table[] = {
     { Parameters::k_param_g2,                34,      AP_PARAM_FLOAT,  "SAIL_ANGLE_IDEAL" },
     { Parameters::k_param_g2,                35,      AP_PARAM_FLOAT,  "SAIL_HEEL_MAX" },
     { Parameters::k_param_g2,                36,      AP_PARAM_FLOAT,  "SAIL_NO_GO_ANGLE" },
-    { Parameters::k_param_arming,             2,     AP_PARAM_INT16,  "ARMING_CHECK" },
     { Parameters::k_param_turn_max_g_old,     0,     AP_PARAM_FLOAT,  "ATC_TURN_MAX_G" },
     { Parameters::k_param_g2,                82,     AP_PARAM_INT8 , "PRX1_TYPE" },
     { Parameters::k_param_g2,               146,     AP_PARAM_INT8 , "PRX1_ORIENT" },

Tools/Frame_params/Parrot_Bebop.param

@@ -1,5 +1,5 @@
 #NOTE: Bebop default parameters (Copter-3.4 and higher)
-ARMING_CHECK,126
+ARMING_SKIPCHK,2097024
 ATC_ACCEL_P_MAX,220000
 ATC_ACCEL_R_MAX,220000
 ATC_ACCEL_Y_MAX,56000

Tools/Frame_params/Parrot_Bebop2.param

@@ -1,5 +1,5 @@
 #NOTE: Bebop2 parameter defaults (Copter-3.4 and higher)
-ARMING_CHECK,126
+ARMING_SKIPCHK,2097024
 ATC_ACCEL_P_MAX,220000
 ATC_ACCEL_R_MAX,220000
 ATC_ACCEL_Y_MAX,56000

Tools/Frame_params/eLAB_LAB445_AC34.param

@@ -1,7 +1,7 @@
 #NOTE: eLAB LAB445 Parameter defaults (Copter-3.4.6 and higher)
 ACRO_YAW_P,3
 ANGLE_MAX,3500
-ARMING_CHECK,-10
+ARMING_SKIPCHK,8
 ATC_ACCEL_P_MAX,95000.91
 ATC_ACCEL_R_MAX,100000.7
 ATC_ANG_PIT_P,18

Tools/Frame_params/intel-aero-rtf.param

@@ -2,7 +2,7 @@
 ACRO_YAW_P,2.5
 AHRS_ORIENTATION,0
 ANGLE_MAX,3000
-ARMING_CHECK,7166
+ARMING_SKIPCHK,2089984
 ATC_ACCEL_P_MAX,60000
 ATC_ACCEL_R_MAX,210000
 ATC_ACCEL_Y_MAX,20000

Tools/Replay/Replay.h

@@ -16,6 +16,7 @@
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_Vehicle/AP_FixedWing.h>
 #include <SRV_Channel/SRV_Channel.h>
+#include <AP_Arming/AP_Arming.h>
 
 #include "LogReader.h"
 
@@ -60,7 +61,7 @@ class ReplayVehicle : public AP_Vehicle {
 
     SRV_Channels servo_channels;
 
-protected:
+    AP_Arming arming;
 
 protected:
 

Tools/Replay/wscript

@@ -4,9 +4,6 @@
 
 import boards
 
-def configure(cfg):
-    cfg.env.HAL_GCS_ENABLED = 0
-
 def build(bld):
     if isinstance(bld.get_board(), boards.chibios) and bld.env['WITH_FATFS'] != '1' and bld.env['WITH_LITTLEFS'] != 1:
         # we need a filesystem for replay

Tools/autotest/arducopter.py

@@ -3898,7 +3898,8 @@ def CANGPSCopterMission(self):
         })
 
         self.context_push()
-        self.set_parameter("ARMING_CHECK", 1 << 3)
+        # enable only GPS arming check during ordering test
+        self.set_parameter("ARMING_SKIPCHK", ~(1 << 3))
         self.context_collect('STATUSTEXT')
 
         self.reboot_sitl()
@@ -3972,7 +3973,7 @@ def CANGPSCopterMission(self):
                 self.context_stop_collecting('STATUSTEXT')
         self.progress("############################### All GPS Order Cases Tests Passed")
         self.progress("############################### Test Healthy Prearm check")
-        self.set_parameter("ARMING_CHECK", 1)
+        self.set_parameter("ARMING_SKIPCHK", 0)
         self.stop_sup_program(instance=0)
         self.start_sup_program(instance=0, args="-M")
         self.stop_sup_program(instance=1)
@@ -8949,16 +8950,6 @@ def BeaconPosition(self):
         })
         self.reboot_sitl()
 
-        # turn off GPS arming checks.  This may be considered a
-        # bug that we need to do this.
-        old_arming_check = int(self.get_parameter("ARMING_CHECK"))
-        if old_arming_check == 1:
-            old_arming_check = 1 ^ 25 - 1
-        new_arming_check = int(old_arming_check) & ~(1 << 3)
-        self.set_parameter("ARMING_CHECK", new_arming_check)
-
-        self.reboot_sitl()
-
         # require_absolute=True infers a GPS is present
         self.wait_ready_to_arm(require_absolute=False)
 
@@ -10984,7 +10975,7 @@ def AltEstimation(self):
         self.wait_gps_disable(position_vertical=True)
 
         # turn off arming checks (mandatory arming checks will still be run)
-        self.set_parameter("ARMING_CHECK", 0)
+        self.set_parameter("ARMING_SKIPCHK", -1)
 
         # delay 12 sec to allow EKF to lose altitude estimate
         self.delay_sim_time(12)
@@ -11152,7 +11143,7 @@ def test_replay_beacon_bit(self):
         new_onboard_logs = sorted(self.log_list())
 
         log_difference = [x for x in new_onboard_logs if x not in old_onboard_logs]
-        return log_difference[2]
+        return log_difference[1] # index depends on the reboots and ordering thereof in BeaconPosition!
 
     def test_replay_optical_flow_bit(self):
         self.set_parameters({

Tools/autotest/arduplane.py

@@ -7197,11 +7197,11 @@ def mavlink_AIRSPEED(self):
         self.set_parameter("SIM_ARSPD_FAIL", 0)
         self.fly_home_land_and_disarm()
 
-    def RudderArmingWithArmingChecksZero(self):
-        '''check we can't arm with rudder even if checks are disabled'''
+    def RudderArmingWithArmingChecksSkipped(self):
+        '''check we can't arm with rudder even if all checks are skipped'''
         self.set_parameters({
             "ARMING_RUDDER": 0,
-            "ARMING_CHECK": 0,
+            "ARMING_SKIPCHK": -1,
             "RC4_REVERSED": 0,
         })
         self.reboot_sitl()
@@ -7909,7 +7909,7 @@ def tests1b(self):
             self.DO_CHANGE_ALTITUDE,
             self.SET_POSITION_TARGET_GLOBAL_INT_for_altitude,
             self.MAV_CMD_NAV_LOITER_TURNS_zero_turn,
-            self.RudderArmingWithArmingChecksZero,
+            self.RudderArmingWithArmingChecksSkipped,
             self.TerrainLoiterToCircle,
             self.FenceDoubleBreach,
             self.ScriptedArmingChecksApplet,

Tools/autotest/default_params/airsim-rover.parm

@@ -2,7 +2,7 @@ SERVO1_FUNCTION     26
 SERVO3_FUNCTION     70
 INS_GYR_CAL         0
 SCHED_LOOP_RATE     50
-ARMING_CHECK        0
+ARMING_SKIPCHK      -1
 LOG_DISARMED        1
 LOG_BITMASK      65535
 CRUISE_SPEED     4.636384

Tools/autotest/default_params/vee-gull_005.param

@@ -19,7 +19,7 @@ CRUISE_ALT_FLOOR,0.00
 RTL_ALTITUDE,100.00
 ALT_OFFSET,0
 ARMING_ACCTHRESH,0.75
-ARMING_CHECK,0
+ARMING_SKIPCHK,-1
 ARMING_MIN_VOLT,0
 ARMING_MIN_VOLT2,0
 ARMING_REQUIRE,0

Tools/autotest/quadplane.py

@@ -1738,7 +1738,7 @@ def RCDisableAirspeedUse(self):
             "COMPASS_USE": 0,
             "COMPASS_USE2": 0,
             "COMPASS_USE3": 0,
-            "ARMING_CHECK": 589818,  # from a logfile, disables compass
+            "ARMING_SKIPCHK": 1 << 2,  # disables compass
         })
 
         self.reboot_sitl()

Tools/autotest/vehicle_test_suite.py

@@ -9944,7 +9944,7 @@ def do_prep_mag_cal_test(mavproxy, params):
                 self.set_parameter("COMPASS_ORIENT%d" % count, 0)
 
             # Only care about compass prearm
-            self.set_parameter("ARMING_CHECK", 4)
+            self.set_parameter("ARMING_SKIPCHK", ~(1 << 2))
 
         #################################################
         def do_test_mag_cal(mavproxy, params, compass_tnumber):
@@ -10770,8 +10770,8 @@ def ArmFeatures(self):
         '''Arm features'''
         # TEST ARMING/DISARM
         self.delay_sim_time(12)  # wait for gyros/accels to be happy
-        if self.get_parameter("ARMING_CHECK") != 1.0 and not self.is_sub():
-            raise ValueError("Arming check should be 1")
+        if self.get_parameter("ARMING_SKIPCHK") != 0 and not self.is_sub():
+            raise ValueError("Arming skipped checks should be 0")
         if not self.is_sub() and not self.is_tracker():
             self.set_parameter("ARMING_RUDDER", 2)  # allow arm and disarm with rudder on first tests
         if self.is_copter():