treewide: fix up for ARMING_CHECK -> ARMING_SKIPCHK

tpwrules · tpwrules · commit 8f5ce115d54d · 2025-12-02T21:59:55.000-06:00
Some non-obvious changes:

* Remove picture of ARMING_CHECK Mission Planner editor, this could be
  replaced once the editor is fixed for the new parameter.

* Remove dubious instructions and picture of disabling arming checks
  through a Raspberry Pi. The page is so old it may be time to remove it
  entirely.
diff --git a/common/source/docs/common-compassless.rst b/common/source/docs/common-compassless.rst
@@ -36,9 +36,9 @@ For configure EKF3 to always use GSF set :ref:`EK3_SRC1_YAW <EK3_SRC1_YAW>` = 8
 Operation
 ---------
 
-Currently, only Plane will arm if the :ref:`ARMING_CHECK<ARMING_CHECK>` for compass (or ALL) is enabled, when no compasses are enabled. Copter and QuadPlane will give an pre-arming failure. Three possible methods to arm Copter and QuadPlane are:
+Currently, only Plane will arm if the :ref:`ARMING_SKIPCHK<ARMING_SKIPCHK>` for compass isn't skipped, when no compasses are enabled. Copter and QuadPlane will give an pre-arming failure. Three possible methods to arm Copter and QuadPlane are:
 
-#. Disable :ref:`ARMING_CHECK<ARMING_CHECK>` for Compass (keep the others!).
+#. Enable :ref:`ARMING_SKIPCHK<ARMING_SKIPCHK>` for Compass (don't skip any others!).
 #. Force arming from ground station.
 #. Before arming, but after GPS lock has been obtained and EKF origin has been set and is "using GPS", pick up the vehicle and walk around in a circle a few meters in diameter. This should allow the GSF to acquire yaw alignment and the message "EKF yaw alignment complete" would be sent to the ground station.
 
diff --git a/common/source/docs/common-gcs-only-operation.rst b/common/source/docs/common-gcs-only-operation.rst
@@ -43,7 +43,7 @@ Copter
 Copter has a few additional safety checks that must be accommodated in order to arm with no RC input.
 
 -  :ref:`FS_THR_ENABLE<FS_THR_ENABLE>` must be set to zero if no joystick is being used or you do not want a failsafe if the joystick fails or is disabled.
--  :ref:`ARMING_CHECK<ARMING_CHECK>` should not include bit 6 (RC check). A value of 65470 will include all other checks. It is not recommended that :ref:`ARMING_CHECK<ARMING_CHECK>` set for 0 (ARM immediately), since important system checks would be bypassed.
+-  :ref:`ARMING_SKIPCHK<ARMING_SKIPCHK>` should include bit 6 (RC check). It is not recommended to turn on other bits since important system checks may be bypassed.
 -  assuming that the :ref:`RCMAP_ROLL <RCMAP_ROLL>`, :ref:`RCMAP_PITCH <RCMAP_PITCH>`, :ref:`RCMAP_THROTTLE <RCMAP_THROTTLE>` and :ref:`RCMAP_YAW <RCMAP_YAW>` parameters are default, then the RC 1 thru 4 channels' maximum and minimum parameters must be changed slightly. This is because Copter checks to see that the RC calibration has been done. But since no RC is used in the system, this step will not have occurred. Therefore, to emulate that this has happened, the min and max values need to be changed from their defaults of 1100 and 1900, respectively. Values of 1101 and 1901, will do for the ``RCx_MIN`` and ``RCx_MAX`` for the roll,pitch, throttle, and yaw RC channels.
 
 The vehicle can then be armed after the GPS has obtained lock and internal initializations have completed, either by joystick rudder arming (if enabled, see :ref:`ARMING_RUDDER<ARMING_RUDDER>` ) or arming command from the GCS. 
diff --git a/common/source/docs/common-nooploop.rst b/common/source/docs/common-nooploop.rst
@@ -65,7 +65,7 @@ Ensure that Copter is loaded onto the autopilot and connect with a Ground Statio
 - set :ref:`EK3_SRC1_VELZ <EK3_SRC1_VELZ>` to 0 ("None")
 - set :ref:`EK3_SRC1_YAW<EK3_SRC1_YAW>` to 1 ("Compass") since a compass must be used in conjunction with this device.
 - set :ref:`GPS1_TYPE <GPS1_TYPE>` to 0 to disable the GPS
-- set :ref:`ARMING_CHECK <ARMING_CHECK>` to -9 to disable the GPS arming check
+- set :ref:`ARMING_SKIPCHK <ARMING_SKIPCHK>` to 8 to disable the GPS arming check
 - set :ref:`SERIAL1_BAUD <SERIAL1_BAUD>` to 921 to set SERIAL1's baud rate to 921600
 - set :ref:`SERIAL1_PROTOCOL <SERIAL1_PROTOCOL>` to 13 to enable reading the IndoorLoiter2 protocol
 - set :ref:`BRD_SER1_RTSCTS <BRD_SER1_RTSCTS>` to 0 to ensure SERIAL1 does not use flow control, assuming it has this capability.
diff --git a/common/source/docs/common-pozyx.rst b/common/source/docs/common-pozyx.rst
@@ -62,7 +62,7 @@ Connect with a Ground Station and set the following parameters:
 - set :ref:`EK3_SRC1_VELZ <EK3_SRC1_VELZ>` to 0 (None)
 - set :ref:`EK3_SRC1_POSZ<EK3_SRC1_POSZ>` to  4 (Beacon)
 - set :ref:`EK3_SRC1_YAW<EK3_SRC1_YAW>` to 1 (Compass) since a compass is required for use with this device.
-- set :ref:`ARMING_CHECK <ARMING_CHECK>` to -9 to disable the GPS arming check
+- set :ref:`ARMING_SKIPCHK <ARMING_SKIPCHK>` to 8 to disable the GPS arming check
 - set :ref:`SERIAL1_BAUD <SERIAL1_BAUD>` to 115 to set SERIAL1 port's baud rate to 115200 (if using a different SERIAL port set its baud rate to 115, instead)
 - set :ref:`SERIAL1_PROTOCOL <SERIAL1_PROTOCOL>` to 13 (Beacon) to enable reading the IndoorLoiter2 protocol (If using a different port, set its protocol to 13 instead)
 - set :ref:`BRD_SER1_RTSCTS <BRD_SER1_RTSCTS>` to 0 to ensure telem1 does not use flow control (If using Telem2 set :ref:`BRD_SER2_RTSCTS <BRD_SER2_RTSCTS>` instead, not required if using a SERIAL port without flow control)
diff --git a/common/source/docs/common-prearm-safety-checks.rst b/common/source/docs/common-prearm-safety-checks.rst
@@ -13,7 +13,7 @@ some can also be disabled if necessary.
 ..  youtube:: gZ3H2eLmStI
     :width: 100%
 
-.. warning:: Never disable the arming checks (ie :ref:`ARMING_CHECK<ARMING_CHECK>` not = "1", except for bench testing. Always resolve any prearm or arming failures BEFORE attempting to fly. Doing otherwise may result in the loss of the vehicle.
+.. warning:: Never disable arming checks (ie :ref:`ARMING_SKIPCHK<ARMING_SKIPCHK>` not = "0", except for bench testing. Always resolve any prearm or arming failures BEFORE attempting to fly. Doing otherwise may result in the loss of the vehicle.
 
 Recognising which Pre-Arm Check has failed using the GCS
 ========================================================
@@ -509,18 +509,6 @@ IF a rangefinder has been configured, a reporting error has occurred.
 Disabling the Pre-arm Safety Check
 ==================================
 
-.. warning:: Disabling pre-arm safety checks is not recommended. The cause of the pre-arm failure should be corrected before operation of the vehicle if at all possible. If you are confident that the pre-arm check failure is not a real problem, it is possible to disable a failing check.
+.. warning:: Disabling pre-arm safety checks is not recommended. The cause of the pre-arm failure should be corrected before operation of the vehicle if at all possible. If you are confident that the pre-arm check failure is not a real problem, it is possible to skip a failing check.
 
-Arming checks can be individually disabled by setting the :ref:`ARMING_CHECK<ARMING_CHECK>` parameter to something other than 1. Setting to 0 completely removes all pre-arm checks. For example, setting to  4 only checks that the GPS has lock.
-
-This can also be configured using Mission Planner:
-
-.. image:: ../../../images/MP_PreArmCheckDisable.png
-    :target: ../_images/MP_PreArmCheckDisable.png
-
-
--  Connecting your Autopilot to the Mission Planner
--  Go to Mission Planner's Config/Tuning >> Standard Params screen
--  set the Arming Check drop-down to "Disabled" or one of the "Skip"
-   options which more effectively skips the item causing the failure.
--  Push the "Write Params" button
+Arming checks can be individually skipped by setting the :ref:`ARMING_SKIPCHK<ARMING_SKIPCHK>` parameter to something other than 0. For example, setting to 4 skips the checks that the GPS has lock. In extremely unusual circumstances, setting the parameter to -1 can be used to skip all current and future pre-arm checks (though mandatory checks still remain).
diff --git a/dev/source/docs/adding_simulated_devices.rst b/dev/source/docs/adding_simulated_devices.rst
@@ -218,7 +218,7 @@ You can test two virtual wheel encoders like this:
     param set WENC_POS_Y 0.075
     param set WENC2_TYPE 10
     param set WENC2_POS_Y -0.075
-    param set ARMING_CHECK 60918 (to disable GPS checks)
+    param set ARMING_SKIPCHK 8 (to disable GPS checks)
 
 The restart SITL and right mouse button click on the map and select "Set Origin (with height)" and the vehicle should appear on the map.  It may also be useful to enter "map set showsimpos 1" to make the vehicle's actual position visible.
 
@@ -314,7 +314,7 @@ Enable EKF3, disable GPS and set Serial5 protocol to mavlink so as to accept vis
     param set VISO_TYPE 2
     param set SERIAL5_PROTOCOL 2
     param set GPS_TYPE 0 (optional)
-    param set ARMING_CHECK 388598 (optional, to disable GPS checks)
+    param set ARMING_SKIPCHK 8 (optional, to disable GPS checks)
     param fetch
 
 Restart the simulation, attaching a simulated Vicon system to ``SERIAL5``:
diff --git a/dev/source/docs/raspberry-pi-via-mavlink.rst b/dev/source/docs/raspberry-pi-via-mavlink.rst
@@ -130,17 +130,11 @@ RPi type:
     python3 mavproxy.py --master=/dev/serial0 --baudrate 921600 --aircraft MyCopter
     
 
-Once MAVProxy has started you should be able to type in the following
-command to display the ``ARMING_CHECK`` parameters value
+Once MAVProxy has started you should be able to use the following command to arm (ensure propellers are removed!):
 
 ::
 
-    param show ARMING_CHECK
-    param set ARMING_CHECK 0
-    arm throttle
-
-.. figure:: ../images/RaspberryPi_ArmTestThroughPutty.png
-    :target: ../_images/RaspberryPi_ArmTestThroughPutty.png
+    arm throttle force
 
 .. note::
 
diff --git a/dev/source/docs/ros-cartographer-slam.rst b/dev/source/docs/ros-cartographer-slam.rst
@@ -281,7 +281,7 @@ Connect to the flight controller with a ground station (i.e. Mission Planner) an
 -  :ref:`EK3_SRC1_YAW <copter:EK3_SRC1_YAW>` = 6 to set yaw source to ExternalNAV
 -  :ref:`GPS1_TYPE <GPS1_TYPE>` = 0 to disable the GPS
 -  :ref:`VISO_TYPE <copter:VISO_TYPE>` = 1 to enable visual odometry
--  :ref:`ARMING_CHECK <copter:ARMING_CHECK>` = 388598 (optional, to disable GPS checks)
+-  :ref:`ARMING_SKIPCHK <copter:ARMING_SKIPCHK>` = 8 (optional, to disable GPS checks)
 
 
 After changing any of the values above, reboot the flight controller.
diff --git a/dev/source/docs/ros2-cartographer-slam.rst b/dev/source/docs/ros2-cartographer-slam.rst
@@ -64,7 +64,7 @@ If you'd like to get the information from Cartographer to go into ArduPilot's ex
 -  :ref:`EK3_SRC1_VELZ <copter:EK3_SRC1_VELZ>` = 6 to set vertical velocity source to ExternalNAV
 -  :ref:`EK3_SRC1_YAW <copter:EK3_SRC1_YAW>` = 6 to set yaw source to ExternalNAV
 -  :ref:`VISO_TYPE <copter:VISO_TYPE>` = 1 to enable visual odometry
--  :ref:`ARMING_CHECK <copter:ARMING_CHECK>` = 388598 (optional, to disable GPS checks)
+-  :ref:`ARMING_SKIPCHK <copter:ARMING_SKIPCHK>` = 8 (optional, to disable GPS checks)
 
 
 After changing the values above, reboot the flight controller.
diff --git a/dev/source/images/RaspberryPi_ArmTestThroughPutty.png b/dev/source/images/RaspberryPi_ArmTestThroughPutty.png
diff --git a/images/MP_PreArmCheckDisable.png b/images/MP_PreArmCheckDisable.png
diff --git a/plane/source/docs/arming-your-plane.rst b/plane/source/docs/arming-your-plane.rst
@@ -39,9 +39,9 @@ There are three parameters which control how arming works:
    required. The default is 1, meaning that arming is required before
    takeoff. If set to 0 then arming is not required (the plane starts
    off armed).
--  :ref:`ARMING_CHECK<ARMING_CHECK>`: this controls what checks the autopilot does
-   before arming is allowed. The default is 1, meaning all checks are
-   done. Most users should leave it at 1, as the arming checks are
+-  :ref:`ARMING_SKIPCHK<ARMING_SKIPCHK>`: this controls what checks the autopilot does
+   before arming is allowed. The default is 0, meaning all checks are
+   done. Most users should leave it at 0, as the arming checks are
    important to ensure the autopilot is ready. See below.
 -  :ref:`ARMING_RUDDER<ARMING_RUDDER>`: This parameter allows you to configure rudder
    based arming/disarming. The default is 1, meaning you are able to
diff --git a/rover/source/docs/arming-your-rover.rst b/rover/source/docs/arming-your-rover.rst
@@ -47,7 +47,7 @@ Rover includes a suite of safety checks which prevent the vehicle from arming
 if any of a fairly large number of issues are discovered including missed
 calibration, configuration or bad sensor data.  These checks help prevent sudden
 motor startups and drive-aways but they can also be disabled by setting the
-:ref:`ARMING_CHECK <ARMING_CHECK>` parameter if necessary.
+:ref:`ARMING_SKIPCHK <ARMING_SKIPCHK>` parameter if necessary.
 
 The reason for the failure can be seen by connecting the autopilot to
 a ground station (using telemetry or a USB cable), after attempting to arm
@@ -77,11 +77,10 @@ A more complete list of failures can be found on the :ref:`Pre-Arm Safety Checks
 -  RC Control checks. The RC input must have be calibrated and not in failsafe (i.e. transmitter switched on).
 
 The pre-arm checks can be partially or completely disabled by setting the
-:ref:`ARMING_CHECK <ARMING_CHECK>` parameter.  The default of 1 means all checks are
-enabled.  If set to 0 all checks are disabled.  Ground Stations including the
-mission planner also allow disabling individual checks.
+:ref:`ARMING_SKIPCHK <ARMING_SKIPCHK>` parameter.  The default of 0 means all checks are
+enabled.  In extremely unusual circumstances, setting the parameter to -1 can be used to skip all current and future pre-arm checks (though mandatory checks still remain).
 
-In general the cause of a failure should be addressed and the :ref:`ARMING_CHECK <ARMING_CHECK>` parameter should be reset back to 1. 
+In general the cause of a failure should be addressed and the :ref:`ARMING_SKIPCHK <ARMING_SKIPCHK>` parameter should be reset back to 0. 
 
 .. note::
 
diff --git a/sub/source/docs/arming-the-motors.rst b/sub/source/docs/arming-the-motors.rst
@@ -8,7 +8,7 @@ Arming the vehicle allows the thrusters to start spinning.  Before arming, make
 
 In order to arm:
 
-- Pre-Arm safety checks must be passing (See :ref:`common-prearm-safety-checks`). It is recommended that :ref:`ARMING_CHECK<ARMING_CHECK>` be enabled for all available systems/sensors checks to prevent arming with system issues present. You must have also provided a method to Disarm the vehicle, either by GCS button assignments (``BTNx_FUNCTION``), or :ref:`AUX_FUNCTION <common-auxiliary-functions>`.
+- Pre-Arm safety checks must be passing (See :ref:`common-prearm-safety-checks`). It is recommended that :ref:`ARMING_SKIPCHK<ARMING_SKIPCHK>` be kept at 0 (no checks skipped) to prevent arming with system issues present. You must have also provided a method to Disarm the vehicle, either by GCS button assignments (``BTNx_FUNCTION``), or :ref:`AUX_FUNCTION <common-auxiliary-functions>`.
 - The throttle must be at idle value if :ref:`RC_OPTIONS<RC_OPTIONS>` bit 5 is set ("Arming check throttle for 0 input"). Normally, this would be a center stick if bi-directional vertical thrusters are used.
 - An arming pilot control must be activated, eg. GCS joystick button with "Arm" function assigned, GCS MAVLink ARM command given, or an :ref:`Auxiliary function <common-auxiliary-functions>` such as ARM/DISARM ("153") is used by either GCS command or RC channel switch (if enabled).
 
