AP_Arming: Record arming time and add accessor for it

ArduPilot · Aug 4, 2024 · b7e8c0d · b7e8c0d
1 parent 9543eec
commit b7e8c0d
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Showing 2 changed files with 6 additions and 0 deletions.
diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
@@ -1750,6 +1750,7 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
 
     if ((!do_arming_checks && mandatory_checks(true)) || (pre_arm_checks(true) && arm_checks(method))) {
         armed = true;
+        last_arm_time_us = AP_HAL::micros64();
 
         _last_arm_method = method;
 

diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
@@ -101,6 +101,9 @@ class AP_Arming {
     bool is_armed() const;
     bool is_armed_and_safety_off() const;
 
+    // Returns the time since boot (in microseconds) that we armed. Returns 0 if disarmed.
+    uint64_t arm_time_us() const { return is_armed() ? last_arm_time_us : 0; }
+
     // get bitmask of enabled checks
     uint32_t get_enabled_checks() const;
 
@@ -309,6 +312,8 @@ class AP_Arming {
     Method _last_disarm_method = Method::UNKNOWN;
     Method _last_arm_method = Method::UNKNOWN;
 
+    uint64_t last_arm_time_us; // last time we successfully armed
+
     uint32_t last_prearm_display_ms;  // last time we send statustexts for prearm failures
     bool running_arming_checks;  // true if the arming checks currently being performed are being done because the vehicle is trying to arm the vehicle