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AP_Motors: add option to disable motor PWM output while disarmed

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This commit is contained in:
Jonathan Challinger 2016-11-18 17:48:22 -08:00 committed by Randy Mackay
parent f2a0bf9ad1
commit 22517422f9
3 changed files with 24 additions and 3 deletions
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7
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -88,15 +88,20 @@ void AP_MotorsMatrix::output_to_motors()
int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS]; // final pwm values sent to the motor
switch (_spool_mode) {
case SHUT_DOWN:
case SHUT_DOWN: {
// sends minimum values out to the motors
// set motor output based on thrust requests
for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
if (_disarm_disable_pwm && _disarm_safety_timer == 0 && !armed()) {
motor_out[i] = 0;
} else {
motor_out[i] = get_pwm_output_min();
}
}
}
break;
}
case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying
for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {

16
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -137,6 +137,13 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// @User: Advanced
AP_GROUPINFO("HOVER_LEARN", 22, AP_MotorsMulticopter, _throttle_hover_learn, HOVER_LEARN_AND_SAVE),
// @Param: SAFE_DISARM
// @DisplayName: Motor PWM output disabled when disarmed
// @Description: Disables motor PWM output when disarmed
// @Values: 0:PWM enabled while disarmed, 1:PWM disabled while disarmed
// @User: Advanced
AP_GROUPINFO("SAFE_DISARM", 23, AP_MotorsMulticopter, _disarm_disable_pwm, 0),
AP_GROUPEND
};
@ -151,7 +158,8 @@ AP_MotorsMulticopter::AP_MotorsMulticopter(uint16_t loop_rate, uint16_t speed_hz
_batt_timer(0),
_lift_max(1.0f),
_throttle_limit(1.0f),
_throttle_thrust_max(0.0f)
_throttle_thrust_max(0.0f),
_disarm_safety_timer(0)
{
AP_Param::setup_object_defaults(this, var_info);
@ -385,6 +393,12 @@ void AP_MotorsMulticopter::update_throttle_hover(float dt)
// run spool logic
void AP_MotorsMulticopter::output_logic()
{
if (_flags.armed) {
_disarm_safety_timer = 100;
} else if (_disarm_safety_timer != 0) {
_disarm_safety_timer--;
}
// force desired and current spool mode if disarmed or not interlocked
if (!_flags.armed || !_flags.interlock) {
_spool_desired = DESIRED_SHUT_DOWN;

2
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -161,6 +161,7 @@ protected:
AP_Int16 _pwm_max; // maximum PWM value that will ever be output to the motors (if 0, vehicle's throttle input channel's max pwm used)
AP_Float _throttle_hover; // estimated throttle required to hover throttle in the range 0 ~ 1
AP_Int8 _throttle_hover_learn; // enable/disabled hover thrust learning
AP_Int8 _disarm_disable_pwm; // disable PWM output while disarmed
// motor output variables
bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]; // true if motor is enabled
@ -180,6 +181,7 @@ protected:
float _lift_max; // maximum lift ratio from battery voltage
float _throttle_limit; // ratio of throttle limit between hover and maximum
float _throttle_thrust_max; // the maximum allowed throttle thrust 0.0 to 1.0 in the range throttle_min to throttle_max
uint16_t _disarm_safety_timer;
// vehicle supplied callback for thrust compensation. Used for tiltrotors and tiltwings
thrust_compensation_fn_t _thrust_compensation_callback;