mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-30 12:38:33 -04:00
Copter: move Arming functions into AP_Arming file
This commit is contained in:
Peter Barker
Randy Mackay
parent
22c5954c8f
commit
112b153268
@ -557,3 +557,178 @@ void AP_Arming_Copter::set_pre_arm_check(bool b)
|
||||
copter.ap.pre_arm_check = b;
|
||||
AP_Notify::flags.pre_arm_check = b;
|
||||
}
|
||||
|
||||
bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_checks)
|
||||
{
|
||||
static bool in_arm_motors = false;
|
||||
|
||||
// exit immediately if already in this function
|
||||
if (in_arm_motors) {
|
||||
return false;
|
||||
}
|
||||
in_arm_motors = true;
|
||||
|
||||
// return true if already armed
|
||||
if (copter.motors->armed()) {
|
||||
in_arm_motors = false;
|
||||
return true;
|
||||
}
|
||||
|
||||
if (!AP_Arming::arm(method, do_arming_checks)) {
|
||||
AP_Notify::events.arming_failed = true;
|
||||
in_arm_motors = false;
|
||||
return false;
|
||||
}
|
||||
|
||||
// let logger know that we're armed (it may open logs e.g.)
|
||||
AP::logger().set_vehicle_armed(true);
|
||||
|
||||
// disable cpu failsafe because initialising everything takes a while
|
||||
copter.failsafe_disable();
|
||||
|
||||
// notify that arming will occur (we do this early to give plenty of warning)
|
||||
AP_Notify::flags.armed = true;
|
||||
// call notify update a few times to ensure the message gets out
|
||||
for (uint8_t i=0; i<=10; i++) {
|
||||
AP::notify().update();
|
||||
}
|
||||
|
||||
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
||||
gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
|
||||
#endif
|
||||
|
||||
// Remember Orientation
|
||||
// --------------------
|
||||
copter.init_simple_bearing();
|
||||
|
||||
AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
|
||||
|
||||
copter.initial_armed_bearing = ahrs.yaw_sensor;
|
||||
|
||||
if (!ahrs.home_is_set()) {
|
||||
// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
|
||||
ahrs.resetHeightDatum();
|
||||
AP::logger().Write_Event(DATA_EKF_ALT_RESET);
|
||||
|
||||
// we have reset height, so arming height is zero
|
||||
copter.arming_altitude_m = 0;
|
||||
} else if (!ahrs.home_is_locked()) {
|
||||
// Reset home position if it has already been set before (but not locked)
|
||||
if (!copter.set_home_to_current_location(false)) {
|
||||
// ignore failure
|
||||
}
|
||||
|
||||
// remember the height when we armed
|
||||
copter.arming_altitude_m = copter.inertial_nav.get_altitude() * 0.01;
|
||||
}
|
||||
copter.update_super_simple_bearing(false);
|
||||
|
||||
// Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
copter.g2.smart_rtl.set_home(copter.position_ok());
|
||||
#endif
|
||||
|
||||
// enable gps velocity based centrefugal force compensation
|
||||
ahrs.set_correct_centrifugal(true);
|
||||
hal.util->set_soft_armed(true);
|
||||
|
||||
#if SPRAYER_ENABLED == ENABLED
|
||||
// turn off sprayer's test if on
|
||||
copter.sprayer.test_pump(false);
|
||||
#endif
|
||||
|
||||
// enable output to motors
|
||||
copter.enable_motor_output();
|
||||
|
||||
// finally actually arm the motors
|
||||
copter.motors->armed(true);
|
||||
|
||||
AP::logger().Write_Event(DATA_ARMED);
|
||||
|
||||
// log flight mode in case it was changed while vehicle was disarmed
|
||||
AP::logger().Write_Mode(copter.control_mode, copter.control_mode_reason);
|
||||
|
||||
// re-enable failsafe
|
||||
copter.failsafe_enable();
|
||||
|
||||
// perf monitor ignores delay due to arming
|
||||
AP::scheduler().perf_info.ignore_this_loop();
|
||||
|
||||
// flag exiting this function
|
||||
in_arm_motors = false;
|
||||
|
||||
// Log time stamp of arming event
|
||||
copter.arm_time_ms = millis();
|
||||
|
||||
// Start the arming delay
|
||||
copter.ap.in_arming_delay = true;
|
||||
|
||||
// assumed armed without a arming, switch. Overridden in switches.cpp
|
||||
copter.ap.armed_with_switch = false;
|
||||
|
||||
// return success
|
||||
return true;
|
||||
}
|
||||
|
||||
// arming.disarm - disarm motors
|
||||
bool AP_Arming_Copter::disarm()
|
||||
{
|
||||
// return immediately if we are already disarmed
|
||||
if (!copter.motors->armed()) {
|
||||
return true;
|
||||
}
|
||||
|
||||
if (!AP_Arming::disarm()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
||||
gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
|
||||
#endif
|
||||
|
||||
AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
|
||||
|
||||
// save compass offsets learned by the EKF if enabled
|
||||
Compass &compass = AP::compass();
|
||||
if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
|
||||
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
|
||||
Vector3f magOffsets;
|
||||
if (ahrs.getMagOffsets(i, magOffsets)) {
|
||||
compass.set_and_save_offsets(i, magOffsets);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#if AUTOTUNE_ENABLED == ENABLED
|
||||
// save auto tuned parameters
|
||||
if (copter.flightmode == &copter.mode_autotune) {
|
||||
copter.mode_autotune.save_tuning_gains();
|
||||
} else {
|
||||
copter.mode_autotune.reset();
|
||||
}
|
||||
#endif
|
||||
|
||||
// we are not in the air
|
||||
copter.set_land_complete(true);
|
||||
copter.set_land_complete_maybe(true);
|
||||
|
||||
AP::logger().Write_Event(DATA_DISARMED);
|
||||
|
||||
// send disarm command to motors
|
||||
copter.motors->armed(false);
|
||||
|
||||
#if MODE_AUTO_ENABLED == ENABLED
|
||||
// reset the mission
|
||||
copter.mode_auto.mission.reset();
|
||||
#endif
|
||||
|
||||
AP::logger().set_vehicle_armed(false);
|
||||
|
||||
// disable gps velocity based centrefugal force compensation
|
||||
ahrs.set_correct_centrifugal(false);
|
||||
hal.util->set_soft_armed(false);
|
||||
|
||||
copter.ap.in_arming_delay = false;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -129,181 +129,6 @@ void Copter::auto_disarm_check()
|
||||
}
|
||||
}
|
||||
|
||||
bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_checks)
|
||||
{
|
||||
static bool in_arm_motors = false;
|
||||
|
||||
// exit immediately if already in this function
|
||||
if (in_arm_motors) {
|
||||
return false;
|
||||
}
|
||||
in_arm_motors = true;
|
||||
|
||||
// return true if already armed
|
||||
if (copter.motors->armed()) {
|
||||
in_arm_motors = false;
|
||||
return true;
|
||||
}
|
||||
|
||||
if (!AP_Arming::arm(method, do_arming_checks)) {
|
||||
AP_Notify::events.arming_failed = true;
|
||||
in_arm_motors = false;
|
||||
return false;
|
||||
}
|
||||
|
||||
// let logger know that we're armed (it may open logs e.g.)
|
||||
AP::logger().set_vehicle_armed(true);
|
||||
|
||||
// disable cpu failsafe because initialising everything takes a while
|
||||
copter.failsafe_disable();
|
||||
|
||||
// notify that arming will occur (we do this early to give plenty of warning)
|
||||
AP_Notify::flags.armed = true;
|
||||
// call notify update a few times to ensure the message gets out
|
||||
for (uint8_t i=0; i<=10; i++) {
|
||||
AP::notify().update();
|
||||
}
|
||||
|
||||
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
||||
gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
|
||||
#endif
|
||||
|
||||
// Remember Orientation
|
||||
// --------------------
|
||||
copter.init_simple_bearing();
|
||||
|
||||
AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
|
||||
|
||||
copter.initial_armed_bearing = ahrs.yaw_sensor;
|
||||
|
||||
if (!ahrs.home_is_set()) {
|
||||
// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
|
||||
ahrs.resetHeightDatum();
|
||||
AP::logger().Write_Event(DATA_EKF_ALT_RESET);
|
||||
|
||||
// we have reset height, so arming height is zero
|
||||
copter.arming_altitude_m = 0;
|
||||
} else if (!ahrs.home_is_locked()) {
|
||||
// Reset home position if it has already been set before (but not locked)
|
||||
if (!copter.set_home_to_current_location(false)) {
|
||||
// ignore failure
|
||||
}
|
||||
|
||||
// remember the height when we armed
|
||||
copter.arming_altitude_m = copter.inertial_nav.get_altitude() * 0.01;
|
||||
}
|
||||
copter.update_super_simple_bearing(false);
|
||||
|
||||
// Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
copter.g2.smart_rtl.set_home(copter.position_ok());
|
||||
#endif
|
||||
|
||||
// enable gps velocity based centrefugal force compensation
|
||||
ahrs.set_correct_centrifugal(true);
|
||||
hal.util->set_soft_armed(true);
|
||||
|
||||
#if SPRAYER_ENABLED == ENABLED
|
||||
// turn off sprayer's test if on
|
||||
copter.sprayer.test_pump(false);
|
||||
#endif
|
||||
|
||||
// enable output to motors
|
||||
copter.enable_motor_output();
|
||||
|
||||
// finally actually arm the motors
|
||||
copter.motors->armed(true);
|
||||
|
||||
AP::logger().Write_Event(DATA_ARMED);
|
||||
|
||||
// log flight mode in case it was changed while vehicle was disarmed
|
||||
AP::logger().Write_Mode(copter.control_mode, copter.control_mode_reason);
|
||||
|
||||
// re-enable failsafe
|
||||
copter.failsafe_enable();
|
||||
|
||||
// perf monitor ignores delay due to arming
|
||||
AP::scheduler().perf_info.ignore_this_loop();
|
||||
|
||||
// flag exiting this function
|
||||
in_arm_motors = false;
|
||||
|
||||
// Log time stamp of arming event
|
||||
copter.arm_time_ms = millis();
|
||||
|
||||
// Start the arming delay
|
||||
copter.ap.in_arming_delay = true;
|
||||
|
||||
// assumed armed without a arming, switch. Overridden in switches.cpp
|
||||
copter.ap.armed_with_switch = false;
|
||||
|
||||
// return success
|
||||
return true;
|
||||
}
|
||||
|
||||
// arming.disarm - disarm motors
|
||||
bool AP_Arming_Copter::disarm()
|
||||
{
|
||||
// return immediately if we are already disarmed
|
||||
if (!copter.motors->armed()) {
|
||||
return true;
|
||||
}
|
||||
|
||||
if (!AP_Arming::disarm()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
||||
gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
|
||||
#endif
|
||||
|
||||
AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
|
||||
|
||||
// save compass offsets learned by the EKF if enabled
|
||||
Compass &compass = AP::compass();
|
||||
if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
|
||||
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
|
||||
Vector3f magOffsets;
|
||||
if (ahrs.getMagOffsets(i, magOffsets)) {
|
||||
compass.set_and_save_offsets(i, magOffsets);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#if AUTOTUNE_ENABLED == ENABLED
|
||||
// save auto tuned parameters
|
||||
if (copter.flightmode == &copter.mode_autotune) {
|
||||
copter.mode_autotune.save_tuning_gains();
|
||||
} else {
|
||||
copter.mode_autotune.reset();
|
||||
}
|
||||
#endif
|
||||
|
||||
// we are not in the air
|
||||
copter.set_land_complete(true);
|
||||
copter.set_land_complete_maybe(true);
|
||||
|
||||
AP::logger().Write_Event(DATA_DISARMED);
|
||||
|
||||
// send disarm command to motors
|
||||
copter.motors->armed(false);
|
||||
|
||||
#if MODE_AUTO_ENABLED == ENABLED
|
||||
// reset the mission
|
||||
copter.mode_auto.mission.reset();
|
||||
#endif
|
||||
|
||||
AP::logger().set_vehicle_armed(false);
|
||||
|
||||
// disable gps velocity based centrefugal force compensation
|
||||
ahrs.set_correct_centrifugal(false);
|
||||
hal.util->set_soft_armed(false);
|
||||
|
||||
copter.ap.in_arming_delay = false;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// motors_output - send output to motors library which will adjust and send to ESCs and servos
|
||||
void Copter::motors_output()
|
||||
{
|
||||
|
||||
Loading…
Reference in New Issue
Block a user