ardupilot/Blimp/motors.cpp

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#include "Blimp.h"
#define ARM_DELAY 20 // called at 10hz so 2 seconds
#define DISARM_DELAY 20 // called at 10hz so 2 seconds
#define AUTO_TRIM_DELAY 100 // called at 10hz so 10 seconds
#define LOST_VEHICLE_DELAY 10 // called at 10hz so 1 second
// arm_motors_check - checks for pilot input to arm or disarm the blimp
// called at 10hz
void Blimp::arm_motors_check()
{
static int16_t arming_counter;
// check if arming/disarm using rudder is allowed
AP_Arming::RudderArming arming_rudder = arming.get_rudder_arming_type();
if (arming_rudder == AP_Arming::RudderArming::IS_DISABLED) {
return;
}
// ensure throttle is down
2023-07-27 02:05:11 -03:00
if (channel_up->get_control_in() > 0) { //MIR what dow we do with this?
arming_counter = 0;
return;
}
int16_t yaw_in = channel_yaw->get_control_in();
// full right
if (yaw_in > 900) {
// increase the arming counter to a maximum of 1 beyond the auto trim counter
if (arming_counter <= AUTO_TRIM_DELAY) {
arming_counter++;
}
// arm the motors and configure for flight
if (arming_counter == ARM_DELAY && !motors->armed()) {
// reset arming counter if arming fail
if (!arming.arm(AP_Arming::Method::RUDDER)) {
arming_counter = 0;
}
}
// arm the motors and configure for flight
if (arming_counter == AUTO_TRIM_DELAY && motors->armed() && control_mode == Mode::Number::MANUAL) {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim start");
auto_trim_counter = 250;
auto_trim_started = false;
}
// full left and rudder disarming is enabled
} else if ((yaw_in < -900) && (arming_rudder == AP_Arming::RudderArming::ARMDISARM)) {
if (!flightmode->has_manual_throttle() && !ap.land_complete) {
arming_counter = 0;
return;
}
// increase the counter to a maximum of 1 beyond the disarm delay
if (arming_counter <= DISARM_DELAY) {
arming_counter++;
}
// disarm the motors
if (arming_counter == DISARM_DELAY && motors->armed()) {
arming.disarm(AP_Arming::Method::RUDDER);
}
// Yaw is centered so reset arming counter
} else {
arming_counter = 0;
}
}
// motors_output - send output to motors library which will adjust and send to ESCs and servos
void Blimp::motors_output()
{
// output any servo channels
SRV_Channels::calc_pwm();
// cork now, so that all channel outputs happen at once
SRV_Channels::cork();
// update output on any aux channels, for manual passthru
SRV_Channels::output_ch_all();
// send output signals to motors
motors->output();
// push all channels
SRV_Channels::push();
}