ardupilot/ArduCopter/esc_calibration.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
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/*****************************************************************************
* esc_calibration.pde : functions to check and perform ESC calibration
*****************************************************************************/
#define ESC_CALIBRATION_HIGH_THROTTLE 950
// enum for ESC CALIBRATION
enum ESCCalibrationModes {
ESCCAL_NONE = 0,
ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH = 1,
ESCCAL_PASSTHROUGH_ALWAYS = 2,
ESCCAL_AUTO = 3,
ESCCAL_DISABLED = 9,
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};
// check if we should enter esc calibration mode
void Copter::esc_calibration_startup_check()
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{
#if FRAME_CONFIG != HELI_FRAME
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// exit immediately if pre-arm rc checks fail
pre_arm_rc_checks();
if (!ap.pre_arm_rc_check) {
// clear esc flag for next time
if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) {
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g.esc_calibrate.set_and_save(ESCCAL_NONE);
}
return;
}
// check ESC parameter
switch (g.esc_calibrate) {
case ESCCAL_NONE:
// check if throttle is high
if (channel_throttle->control_in >= ESC_CALIBRATION_HIGH_THROTTLE) {
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// we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
// send message to gcs
gcs_send_text(MAV_SEVERITY_CRITICAL,"ESC calibration: Restart board");
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// turn on esc calibration notification
AP_Notify::flags.esc_calibration = true;
// block until we restart
while(1) { delay(5); }
}
break;
case ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH:
// check if throttle is high
if (channel_throttle->control_in >= ESC_CALIBRATION_HIGH_THROTTLE) {
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// pass through pilot throttle to escs
esc_calibration_passthrough();
}
break;
case ESCCAL_PASSTHROUGH_ALWAYS:
// pass through pilot throttle to escs
esc_calibration_passthrough();
break;
case ESCCAL_AUTO:
// perform automatic ESC calibration
esc_calibration_auto();
break;
case ESCCAL_DISABLED:
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default:
// do nothing
break;
}
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// clear esc flag for next time
if (g.esc_calibrate != ESCCAL_DISABLED) {
g.esc_calibrate.set_and_save(ESCCAL_NONE);
}
#endif // FRAME_CONFIG != HELI_FRAME
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}
// esc_calibration_passthrough - pass through pilot throttle to escs
void Copter::esc_calibration_passthrough()
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{
#if FRAME_CONFIG != HELI_FRAME
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// clear esc flag for next time
g.esc_calibrate.set_and_save(ESCCAL_NONE);
// reduce update rate to motors to 50Hz
motors.set_update_rate(50);
// send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");
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while(1) {
// arm motors
motors.armed(true);
motors.enable();
// flash LEDS
AP_Notify::flags.esc_calibration = true;
// read pilot input
read_radio();
delay(10);
// pass through to motors
motors.throttle_pass_through(channel_throttle->radio_in);
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}
#endif // FRAME_CONFIG != HELI_FRAME
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}
// esc_calibration_auto - calibrate the ESCs automatically using a timer and no pilot input
void Copter::esc_calibration_auto()
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{
#if FRAME_CONFIG != HELI_FRAME
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bool printed_msg = false;
// reduce update rate to motors to 50Hz
motors.set_update_rate(50);
// send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration");
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// arm and enable motors
motors.armed(true);
motors.enable();
// flash LEDS
AP_Notify::flags.esc_calibration = true;
// raise throttle to maximum
delay(10);
motors.throttle_pass_through(channel_throttle->radio_max);
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// wait for safety switch to be pressed
while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (!printed_msg) {
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
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printed_msg = true;
}
delay(10);
}
// delay for 5 seconds
delay(5000);
// reduce throttle to minimum
motors.throttle_pass_through(channel_throttle->radio_min);
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// clear esc parameter
g.esc_calibrate.set_and_save(ESCCAL_NONE);
// block until we restart
while(1) { delay(5); }
#endif // FRAME_CONFIG != HELI_FRAME
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}