2011-03-19 07:20:11 -03:00
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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2011-01-23 22:04:44 -04:00
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2013-05-20 02:05:50 -03:00
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#define ARM_DELAY 20 // called at 10hz so 2 seconds
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#define DISARM_DELAY 20 // called at 10hz so 2 seconds
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#define AUTO_TRIM_DELAY 100 // called at 10hz so 10 seconds
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#define AUTO_DISARMING_DELAY 25 // called at 1hz so 25 seconds
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2011-06-16 14:03:26 -03:00
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2013-05-20 01:03:18 -03:00
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// arm_motors_check - checks for pilot input to arm or disarm the copter
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2011-06-16 14:03:26 -03:00
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// called at 10hz
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2013-05-20 01:03:18 -03:00
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static void arm_motors_check()
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2011-01-23 22:04:44 -04:00
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{
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2012-08-21 23:19:50 -03:00
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static int16_t arming_counter;
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2013-05-16 04:32:00 -03:00
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// ensure throttle is down
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2012-11-05 00:32:38 -04:00
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if (g.rc_3.control_in > 0) {
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2012-08-21 23:19:50 -03:00
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arming_counter = 0;
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return;
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}
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2013-04-22 12:01:20 -03:00
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// ensure we are in Stabilize, Acro or TOY mode
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2012-08-21 23:19:50 -03:00
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if ((control_mode > ACRO) && ((control_mode != TOY_A) && (control_mode != TOY_M))) {
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arming_counter = 0;
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return;
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}
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2012-11-26 20:03:28 -04:00
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#if FRAME_CONFIG == HELI_FRAME
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if ((motors.rsc_mode > 0) && (g.rc_8.control_in >= 10)){
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arming_counter = 0;
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return;
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}
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#endif // HELI_FRAME
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2012-08-21 23:19:50 -03:00
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#if TOY_EDF == ENABLED
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int16_t tmp = g.rc_1.control_in;
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#else
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int16_t tmp = g.rc_4.control_in;
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#endif
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// full right
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if (tmp > 4000) {
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2012-07-14 23:26:17 -03:00
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2012-12-19 11:06:20 -04:00
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// increase the arming counter to a maximum of 1 beyond the auto trim counter
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if( arming_counter <= AUTO_TRIM_DELAY ) {
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arming_counter++;
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}
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// arm the motors and configure for flight
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if (arming_counter == ARM_DELAY && !motors.armed()) {
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2013-05-20 01:03:18 -03:00
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// run pre-arm-checks and display failures
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pre_arm_checks(true);
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if(ap.pre_arm_check) {
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init_arm_motors();
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}else{
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// reset arming counter if pre-arm checks fail
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arming_counter = 0;
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}
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2012-12-19 11:06:20 -04:00
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}
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2012-07-14 23:26:17 -03:00
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2012-12-19 11:06:20 -04:00
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// arm the motors and configure for flight
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if (arming_counter == AUTO_TRIM_DELAY && motors.armed()) {
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auto_trim_counter = 250;
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2012-08-21 23:19:50 -03:00
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}
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2012-12-19 11:06:20 -04:00
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// full left
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2012-08-21 23:19:50 -03:00
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}else if (tmp < -4000) {
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2012-12-19 11:06:20 -04:00
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// increase the counter to a maximum of 1 beyond the disarm delay
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if( arming_counter <= DISARM_DELAY ) {
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2012-08-21 23:19:50 -03:00
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arming_counter++;
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}
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2012-12-19 11:06:20 -04:00
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// disarm the motors
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if (arming_counter == DISARM_DELAY && motors.armed()) {
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init_disarm_motors();
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}
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// Yaw is centered so reset arming counter
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2012-08-21 23:19:50 -03:00
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}else{
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arming_counter = 0;
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}
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2011-01-23 22:04:44 -04:00
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}
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2013-05-20 02:05:50 -03:00
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// auto_disarm_check - disarms the copter if it has been sitting on the ground in manual mode with throttle low for at least 25 seconds
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// called at 1hz
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static void auto_disarm_check()
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{
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static uint8_t auto_disarming_counter;
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if((control_mode <= ACRO) && (g.rc_3.control_in == 0) && motors.armed()) {
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auto_disarming_counter++;
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if(auto_disarming_counter == AUTO_DISARMING_DELAY) {
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init_disarm_motors();
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}else if (auto_disarming_counter > AUTO_DISARMING_DELAY) {
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auto_disarming_counter = AUTO_DISARMING_DELAY + 1;
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}
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}else{
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auto_disarming_counter = 0;
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}
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}
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2011-01-23 22:04:44 -04:00
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2013-05-20 02:05:50 -03:00
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// init_arm_motors - performs arming process including initialisation of barometer and gyros
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2011-11-05 01:41:51 -03:00
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static void init_arm_motors()
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{
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2012-11-10 01:55:51 -04:00
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// arming marker
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2012-08-21 23:19:50 -03:00
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// Flag used to track if we have armed the motors the first time.
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// This is used to decide if we should run the ground_start routine
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// which calibrates the IMU
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static bool did_ground_start = false;
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2012-01-03 14:24:51 -04:00
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2013-05-03 02:49:01 -03:00
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// disable cpu failsafe because initialising everything takes a while
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2012-10-09 00:30:17 -03:00
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failsafe_disable();
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2013-05-19 10:55:40 -03:00
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#if LOGGING_ENABLED == ENABLED
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2013-05-03 02:49:01 -03:00
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// start dataflash
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start_logging();
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2013-05-19 10:55:40 -03:00
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#endif
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2012-10-09 00:30:17 -03:00
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2012-12-18 06:15:11 -04:00
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#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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2012-08-21 23:19:50 -03:00
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gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
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#endif
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2011-11-05 01:41:51 -03:00
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2012-03-30 03:05:44 -03:00
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// we don't want writes to the serial port to cause us to pause
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// mid-flight, so set the serial ports non-blocking once we arm
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// the motors
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2012-12-12 21:25:09 -04:00
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hal.uartA->set_blocking_writes(false);
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2012-03-30 03:05:44 -03:00
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if (gcs3.initialised) {
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2012-12-12 21:25:09 -04:00
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hal.uartC->set_blocking_writes(false);
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2012-03-30 03:05:44 -03:00
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}
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2011-11-05 01:41:51 -03:00
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2012-08-21 23:19:50 -03:00
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#if COPTER_LEDS == ENABLED
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2013-04-01 01:10:12 -03:00
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piezo_beep_twice();
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2012-08-21 23:19:50 -03:00
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#endif
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2011-11-05 01:41:51 -03:00
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2012-08-21 23:19:50 -03:00
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// Remember Orientation
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// --------------------
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init_simple_bearing();
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2011-11-05 01:41:51 -03:00
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2013-05-30 13:11:47 -03:00
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initial_armed_bearing = ahrs.yaw_sensor;
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2012-08-21 23:19:50 -03:00
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// Reset home position
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// -------------------
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2012-11-10 01:55:51 -04:00
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if(ap.home_is_set)
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2012-08-21 23:19:50 -03:00
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init_home();
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2011-11-05 01:41:51 -03:00
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2012-08-21 23:19:50 -03:00
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// all I terms are invalid
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// -----------------------
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2012-01-20 14:11:56 -04:00
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reset_I_all();
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2012-08-21 23:19:50 -03:00
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if(did_ground_start == false) {
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did_ground_start = true;
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startup_ground();
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}
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2011-11-05 01:41:51 -03:00
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2012-08-21 23:19:50 -03:00
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#if HIL_MODE != HIL_MODE_ATTITUDE
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// read Baro pressure at ground -
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// this resets Baro for more accuracy
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//-----------------------------------
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init_barometer();
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#endif
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2011-11-05 01:41:51 -03:00
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2012-08-21 23:19:50 -03:00
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// temp hack
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2012-11-11 09:42:10 -04:00
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ap_system.motor_light = true;
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2012-08-21 23:19:50 -03:00
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digitalWrite(A_LED_PIN, LED_ON);
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2012-08-21 02:38:31 -03:00
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// go back to normal AHRS gains
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ahrs.set_fast_gains(false);
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2012-09-29 12:25:40 -03:00
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#if SECONDARY_DMP_ENABLED == ENABLED
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ahrs2.set_fast_gains(false);
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#endif
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2012-10-09 00:30:17 -03:00
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2013-05-05 04:55:06 -03:00
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// enable gps velocity based centrefugal force compensation
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2013-05-06 01:32:11 -03:00
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ahrs.set_correct_centrifugal(true);
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2013-05-05 04:55:06 -03:00
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2013-05-26 23:21:31 -03:00
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// set hover throttle
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motors.set_mid_throttle(g.throttle_mid);
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2013-05-27 01:55:34 -03:00
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#if COPTER_LEDS == ENABLED
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piezo_beep_twice();
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#endif
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2013-05-16 04:32:00 -03:00
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// enable output to motors
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output_min();
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2012-10-09 00:30:17 -03:00
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// finally actually arm the motors
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motors.armed(true);
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2013-05-13 06:07:28 -03:00
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// log arming to dataflash
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Log_Write_Event(DATA_ARMED);
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2012-10-09 00:30:17 -03:00
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// reenable failsafe
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failsafe_enable();
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2011-11-05 01:41:51 -03:00
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}
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2013-05-16 04:32:00 -03:00
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// perform pre-arm checks and set ap.pre_arm_check flag
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2013-05-20 01:03:18 -03:00
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static void pre_arm_checks(bool display_failure)
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2013-04-22 12:01:20 -03:00
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{
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// exit immediately if we've already successfully performed the pre-arm check
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if( ap.pre_arm_check ) {
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return;
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}
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2013-05-20 02:48:04 -03:00
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// succeed if pre arm checks are disabled
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if(!g.arming_check_enabled) {
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ap.pre_arm_check = true;
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return;
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}
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2013-05-16 04:32:00 -03:00
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// pre-arm rc checks a prerequisite
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pre_arm_rc_checks();
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if(!ap.pre_arm_rc_check) {
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2013-05-20 01:03:18 -03:00
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: RC not calibrated"));
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}
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2013-04-22 12:01:20 -03:00
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return;
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}
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// check accelerometers have been calibrated
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if(!ins.calibrated()) {
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2013-05-20 01:03:18 -03:00
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: INS not calibrated"));
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}
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2013-04-22 12:01:20 -03:00
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return;
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}
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2013-04-27 11:50:40 -03:00
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// check the compass is healthy
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if(!compass.healthy) {
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2013-05-20 01:03:18 -03:00
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy"));
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}
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2013-04-27 11:50:40 -03:00
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return;
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}
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2013-05-20 02:19:47 -03:00
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// check compass learning is on or offsets have been set
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Vector3f offsets = compass.get_offsets();
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if(!compass._learn && offsets.length() == 0) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not calibrated"));
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}
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return;
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}
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// check for unreasonable compass offsets
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if(offsets.length() > 500) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass offsets too high"));
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}
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return;
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}
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2013-05-31 00:23:19 -03:00
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// check for unreasonable mag field length
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float mag_field = pythagorous3(compass.mag_x, compass.mag_y, compass.mag_z);
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if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.5 || mag_field < COMPASS_MAGFIELD_EXPECTED*0.5) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check mag field"));
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}
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return;
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}
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2013-05-25 00:24:47 -03:00
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// barometer health check
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if(!barometer.healthy) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Baro not healthy"));
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}
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return;
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}
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2013-04-26 06:51:07 -03:00
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#if AC_FENCE == ENABLED
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// check fence is initialised
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if(!fence.pre_arm_check()) {
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2013-05-20 01:03:18 -03:00
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: No GPS Lock"));
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}
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2013-04-26 06:51:07 -03:00
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return;
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}
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#endif
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2013-05-30 23:27:54 -03:00
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#if CONFIG_HAL_BOARD != HAL_BOARD_PX4
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2013-05-28 09:50:31 -03:00
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// check board voltage
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2013-05-30 23:31:27 -03:00
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if(board_voltage() < BOARD_VOLTAGE_MIN || board_voltage() > BOARD_VOLTAGE_MAX) {
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2013-05-28 09:50:31 -03:00
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if (display_failure) {
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2013-05-30 23:31:27 -03:00
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check Board Voltage"));
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2013-05-28 09:50:31 -03:00
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}
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return;
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}
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2013-05-30 23:27:54 -03:00
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#endif
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2013-05-28 09:50:31 -03:00
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2013-04-22 12:01:20 -03:00
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// if we've gotten this far then pre arm checks have completed
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ap.pre_arm_check = true;
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}
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2011-11-05 01:41:51 -03:00
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2013-05-16 04:32:00 -03:00
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// perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag
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static void pre_arm_rc_checks()
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{
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// exit immediately if we've already successfully performed the pre-arm rc check
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if( ap.pre_arm_rc_check ) {
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return;
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}
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// check if radio has been calibrated
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if(!g.rc_3.radio_min.load()) {
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return;
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}
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|
|
|
// check if throttle min is reasonable
|
|
|
|
if(g.rc_3.radio_min > 1300) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
// if we've gotten this far rc is ok
|
|
|
|
ap.pre_arm_rc_check = true;
|
|
|
|
}
|
|
|
|
|
2011-11-05 01:41:51 -03:00
|
|
|
static void init_disarm_motors()
|
|
|
|
{
|
2012-12-18 06:15:11 -04:00
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
|
2012-08-21 23:19:50 -03:00
|
|
|
gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
|
|
|
|
#endif
|
2011-11-05 01:41:51 -03:00
|
|
|
|
2012-08-21 23:19:50 -03:00
|
|
|
motors.armed(false);
|
2012-11-10 01:55:51 -04:00
|
|
|
|
2012-08-21 23:19:50 -03:00
|
|
|
compass.save_offsets();
|
2011-11-05 01:41:51 -03:00
|
|
|
|
2012-08-21 23:19:50 -03:00
|
|
|
g.throttle_cruise.save();
|
2012-01-14 15:43:52 -04:00
|
|
|
|
2012-08-21 23:19:50 -03:00
|
|
|
// we are not in the air
|
2012-11-10 01:55:51 -04:00
|
|
|
set_takeoff_complete(false);
|
2012-01-03 14:24:51 -04:00
|
|
|
|
2012-08-21 23:19:50 -03:00
|
|
|
#if COPTER_LEDS == ENABLED
|
2013-04-01 01:10:12 -03:00
|
|
|
piezo_beep();
|
2012-08-21 23:19:50 -03:00
|
|
|
#endif
|
2012-08-21 02:38:31 -03:00
|
|
|
|
|
|
|
// setup fast AHRS gains to get right attitude
|
|
|
|
ahrs.set_fast_gains(true);
|
2012-09-29 12:25:40 -03:00
|
|
|
#if SECONDARY_DMP_ENABLED == ENABLED
|
|
|
|
ahrs2.set_fast_gains(true);
|
|
|
|
#endif
|
2013-05-05 04:55:06 -03:00
|
|
|
|
2013-05-13 06:07:28 -03:00
|
|
|
// log disarm to the dataflash
|
|
|
|
Log_Write_Event(DATA_DISARMED);
|
|
|
|
|
2013-05-05 04:55:06 -03:00
|
|
|
// disable gps velocity based centrefugal force compensation
|
2013-05-06 01:32:11 -03:00
|
|
|
ahrs.set_correct_centrifugal(false);
|
2011-11-05 01:41:51 -03:00
|
|
|
}
|
|
|
|
|
2011-01-23 22:04:44 -04:00
|
|
|
/*****************************************
|
2012-08-21 23:19:50 -03:00
|
|
|
* Set the flight control servos based on the current calculated values
|
|
|
|
*****************************************/
|
2011-07-17 07:32:00 -03:00
|
|
|
static void
|
2011-01-25 01:53:36 -04:00
|
|
|
set_servos_4()
|
2011-01-23 22:04:44 -04:00
|
|
|
{
|
2012-12-17 02:29:11 -04:00
|
|
|
#if FRAME_CONFIG == TRI_FRAME
|
|
|
|
// To-Do: implement improved stability patch for tri so that we do not need to limit throttle input to motors
|
2012-08-21 23:19:50 -03:00
|
|
|
g.rc_3.servo_out = min(g.rc_3.servo_out, 800);
|
2012-11-26 19:44:03 -04:00
|
|
|
#endif
|
2012-08-21 23:19:50 -03:00
|
|
|
motors.output();
|
2012-01-01 16:46:32 -04:00
|
|
|
}
|
|
|
|
|