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Copter: Remove ap.motors_interlock, use only flag in AP_Motors

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This commit is contained in:
Robert Lefebvre 2015-04-30 18:31:31 +09:00 committed by Randy Mackay
parent 9b15ea6f5c
commit 16cf9471ae
5 changed files with 9 additions and 24 deletions
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7
ArduCopter/AP_State.pde
View File

@ -139,13 +139,6 @@ void set_pre_arm_rc_check(bool b)
}
}
void set_motor_interlock(bool b)
{
if(ap.motor_interlock != b) {
ap.motor_interlock = b;
}
}
void set_using_interlock(bool b)
{
if(ap.using_interlock != b) {

5
ArduCopter/ArduCopter.pde
View File

@ -357,9 +357,8 @@ static union {
uint8_t system_time_set : 1; // 28 // true if the system time has been set from the GPS
uint8_t gps_base_pos_set : 1; // 29 // true when the gps base position has been set (used for RTK gps only)
enum HomeState home_state : 2; // 30,31 // home status (unset, set, locked)
uint8_t motor_interlock : 1; // 32 // motor interlock status, final control for motors on/off
uint8_t using_interlock : 1; // 33 // aux switch motor interlock function is in use
uint8_t motor_estop : 1; // 34 // motor estop switch, shuts off motors when enabled
uint8_t using_interlock : 1; // 32 // aux switch motor interlock function is in use
uint8_t motor_estop : 1; // 33 // motor estop switch, shuts off motors when enabled
};
uint32_t value;
} ap;

17
ArduCopter/motors.pde
View File

@ -84,7 +84,7 @@ static void auto_disarm_check()
// allow auto disarm in manual flight modes or Loiter/AltHold if we're landed
// always allow auto disarm if using interlock switch or motors are E-stopped
if (mode_has_manual_throttle(control_mode) || ap.land_complete || (ap.using_interlock && !ap.motor_interlock) || ap.motor_estop) {
if (mode_has_manual_throttle(control_mode) || ap.land_complete || (ap.using_interlock && !motors.get_interlock()) || ap.motor_estop) {
auto_disarming_counter++;
// use a shorter delay if using throttle interlock switch or E-stop, because it is less
@ -173,8 +173,8 @@ static bool init_arm_motors(bool arming_from_gcs)
// check if we are using motor interlock control on an aux switch
set_using_interlock(check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK));
// if we are using motor interlock switch and it's disabled, fail to arm
if (ap.using_interlock && ap.motor_interlock){
// if we are using motor interlock switch and it's enabled, fail to arm
if (ap.using_interlock && motors.get_interlock()){
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Motor Interlock Enabled"));
AP_Notify::flags.armed = false;
return false;
@ -245,7 +245,7 @@ static bool pre_arm_checks(bool display_failure)
// otherwise exit immediately. This check to be repeated,
// as state can change at any time.
set_using_interlock(check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK));
if (ap.using_interlock && ap.motor_interlock){
if (ap.using_interlock && motors.get_interlock()){
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Motor Interlock Enabled"));
}
@ -741,9 +741,6 @@ static void init_disarm_motors()
gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
#endif
// always force Motor Interlock to false
set_motor_interlock(false);
// send disarm command to motors
motors.armed(false);
@ -785,11 +782,7 @@ static void motors_output()
if (ap.motor_test) {
motor_test_output();
} else {
if (ap.using_interlock){
// pass in motor interlock status to motors class
// true means motors run, false motors don't run
motors.set_interlock(ap.motor_interlock);
} else {
if (!ap.using_interlock){
// if not using interlock switch, set according to E-Stop status
// where E-Stop is forced false during arming if E-Stop switch
// is not used. Interlock enabled means motors run, so we must

2
ArduCopter/radio.pde
View File

@ -184,7 +184,7 @@ static void set_throttle_zero_flag(int16_t throttle_control)
// if not using throttle interlock and non-zero throttle and not E-stopped,
// or using motor interlock and it's enabled, then motors are running,
// and we are flying. Immediately set as non-zero
if ((!ap.using_interlock && (throttle_control > 0) && !ap.motor_estop) || (ap.using_interlock && ap.motor_interlock)) {
if ((!ap.using_interlock && (throttle_control > 0) && !ap.motor_estop) || (ap.using_interlock && motors.get_interlock())) {
last_nonzero_throttle_ms = tnow_ms;
ap.throttle_zero = false;
} else if (tnow_ms - last_nonzero_throttle_ms > THROTTLE_ZERO_DEBOUNCE_TIME_MS) {

2
ArduCopter/switches.pde
View File

@ -556,7 +556,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
case AUXSW_MOTOR_INTERLOCK:
// Turn on when above LOW, because channel will also be used for speed
// control signal in tradheli
set_motor_interlock(ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
motors.set_interlock(ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
break;
}