action: add option to force arming (#2276)

This is for bench things.

Signed-off-by: Julian Oes <julian@oes.ch>

src/mavsdk/plugins/action/action.cpp

@@ -28,6 +28,16 @@ Action::Result Action::arm() const
     return _impl->arm();
 }
 
+void Action::arm_force_async(const ResultCallback callback)
+{
+    _impl->arm_force_async(callback);
+}
+
+Action::Result Action::arm_force() const
+{
+    return _impl->arm_force();
+}
+
 void Action::disarm_async(const ResultCallback callback)
 {
     _impl->disarm_async(callback);

src/mavsdk/plugins/action/action_impl.cpp

@@ -62,6 +62,16 @@ Action::Result ActionImpl::arm() const
     return fut.get();
 }
 
+Action::Result ActionImpl::arm_force() const
+{
+    auto prom = std::promise<Action::Result>();
+    auto fut = prom.get_future();
+
+    arm_force_async([&prom](Action::Result result) { prom.set_value(result); });
+
+    return fut.get();
+}
+
 Action::Result ActionImpl::disarm() const
 {
     auto prom = std::promise<Action::Result>();
@@ -285,6 +295,21 @@ bool ActionImpl::need_hold_before_arm_apm() const
     }
 }
 
+void ActionImpl::arm_force_async(const Action::ResultCallback& callback) const
+{
+    MavlinkCommandSender::CommandLong command{};
+
+    command.command = MAV_CMD_COMPONENT_ARM_DISARM;
+    command.params.maybe_param1 = 0.0f; // arm
+    command.params.maybe_param2 = 21196.f; // magic number to force
+    command.target_component_id = _system_impl->get_autopilot_id();
+
+    _system_impl->send_command_async(
+        command, [this, callback](MavlinkCommandSender::Result result, float) {
+            command_result_callback(result, callback);
+        });
+}
+
 void ActionImpl::disarm_async(const Action::ResultCallback& callback) const
 {
     MavlinkCommandSender::CommandLong command{};

src/mavsdk/plugins/action/action_impl.h

@@ -21,6 +21,7 @@ class ActionImpl : public PluginImplBase {
     void disable() override;
 
     Action::Result arm() const;
+    Action::Result arm_force() const;
     Action::Result disarm() const;
     Action::Result terminate() const;
     Action::Result kill() const;
@@ -47,6 +48,7 @@ class ActionImpl : public PluginImplBase {
     Action::Result transition_to_multicopter() const;
 
     void arm_async(const Action::ResultCallback& callback) const;
+    void arm_force_async(const Action::ResultCallback& callback) const;
     void disarm_async(const Action::ResultCallback& callback) const;
     void terminate_async(const Action::ResultCallback& callback) const;
     void kill_async(const Action::ResultCallback& callback) const;

src/mavsdk/plugins/action/include/plugins/action/action.h

@@ -134,6 +134,32 @@ class Action : public PluginBase {
      */
     Result arm() const;
 
+    /**
+     * @brief Send command to force-arm the drone without any checks.
+     *
+     * Attention: this is not to be used for normal flying but only bench tests!
+     *
+     * Arming a drone normally causes motors to spin at idle.
+     * Before arming take all safety precautions and stand clear of the drone!
+     *
+     * This function is non-blocking. See 'arm_force' for the blocking counterpart.
+     */
+    void arm_force_async(const ResultCallback callback);
+
+    /**
+     * @brief Send command to force-arm the drone without any checks.
+     *
+     * Attention: this is not to be used for normal flying but only bench tests!
+     *
+     * Arming a drone normally causes motors to spin at idle.
+     * Before arming take all safety precautions and stand clear of the drone!
+     *
+     * This function is blocking. See 'arm_force_async' for the non-blocking counterpart.
+     *
+     * @return Result of request.
+     */
+    Result arm_force() const;
+
     /**
      * @brief Send command to disarm the drone.
      *

src/mavsdk/plugins/action/mocks/action_mock.h

@@ -11,6 +11,7 @@ namespace testing {
 class MockAction {
 public:
     MOCK_CONST_METHOD0(arm, Action::Result()){};
+    MOCK_CONST_METHOD0(arm_force, Action::Result()){};
     MOCK_CONST_METHOD0(disarm, Action::Result()){};
     MOCK_CONST_METHOD0(takeoff, Action::Result()){};
     MOCK_CONST_METHOD0(land, Action::Result()){};