Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

ArduCopterNG - implemented safety check for throttle. It automatically engages if the throttle is held low for 1 second. It automatically releases if you somewhat slowly increase throttle. If you very quickly move it up (i.e. increase by 100 points in 5ms) the engines will be disarmed.

Browse Source 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@970 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
rmackay9@yahoo.com 2010-11-28 09:04:43 +00:00
parent 44f2139951
commit 3a13180e97
3 changed files with 35 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArducopterNG/ArduUser.h
View File

@ -47,6 +47,8 @@ TODO:
// Arm & Disarm delays
#define ARM_DELAY 50 // how long you need to keep rudder to max right for arming motors (units*0.02, 50=1second)
#define DISARM_DELAY 25 // how long you need to keep rudder to max left for disarming motors
#define SAFETY_DELAY 25 // how long you need to keep throttle to min before safety activates and does not allow sudden throttle increases
#define SAFETY_MAX_THROTTLE_INCREASE 100 // how much of jump in throttle (within a single cycle, 5ms) will cause motors to disarm
/*************************************************************/
// AM Mode & Flight information

2
ArducopterNG/Arducopter.h
View File

@ -347,6 +347,7 @@ int backMotor;
int leftMotor;
int rightMotor;
byte motorArmed = 0; // 0 = motors disarmed, 1 = motors armed
byte motorSafety = 1; // 0 = safety off, 1 = on. When On, sudden increases in throttle not allowed
int minThrottle = 0;
boolean flightOrientation = 0; // 0 = +, 1 = x this is read from DIP1 switch during system bootup
@ -357,6 +358,7 @@ long tlmTimer = 0;
// Arming/Disarming
uint8_t Arming_counter=0;
uint8_t Disarming_counter=0;
uint8_t Safety_counter=0;
// Performance monitoring
// ----------------------

32
ArducopterNG/Radio.pde
View File

@ -38,15 +38,41 @@ TODO:
void read_radio()
{
int tempThrottle = 0;
// Commands from radio Rx
// We apply the Radio calibration parameters (from configurator) except for throttle
ch_roll = channel_filter(APM_RC.InputCh(CH_ROLL) * ch_roll_slope + ch_roll_offset, ch_roll);
ch_pitch = channel_filter(APM_RC.InputCh(CH_PITCH) * ch_pitch_slope + ch_pitch_offset, ch_pitch);
ch_throttle = channel_filter(APM_RC.InputCh(CH_THROTTLE), ch_throttle); // Transmiter calibration not used on throttle
ch_yaw = channel_filter(APM_RC.InputCh(CH_RUDDER) * ch_yaw_slope + ch_yaw_offset, ch_yaw);
ch_aux = APM_RC.InputCh(CH_5) * ch_aux_slope + ch_aux_offset;
ch_aux2 = APM_RC.InputCh(CH_6) * ch_aux2_slope + ch_aux2_offset;
// special checks for throttle
tempThrottle = APM_RC.InputCh(CH_THROTTLE);
// throttle safety check
if( motorSafety == 1 ) {
if( motorArmed == 1 ) {
if( ch_throttle > MIN_THROTTLE + 100 ) { // if throttle is now over MIN..
// if throttle has increased suddenly, disarm motors
if( (tempThrottle - ch_throttle) > SAFETY_MAX_THROTTLE_INCREASE ) {
motorArmed = 0;
}else{ // if it hasn't increased too quickly not turn off the safety
motorSafety = 0;
}
}
}
}else if( ch_throttle < MIN_THROTTLE + 100 ) { // Safety logic: hold throttle low for more than 1 second, safety comes on which stops sudden increases in throttle
Safety_counter++;
if( Safety_counter > SAFETY_DELAY ) {
motorSafety = 1;
Safety_counter = 0;
}
}
// normal throttle filtering. Note: Transmiter calibration not used on throttle
ch_throttle = channel_filter(tempThrottle, ch_throttle);
// Flight mode
if(ch_aux2 > 1200)
flightMode = ACRO_MODE; // Force to Acro mode from radio
@ -89,10 +115,11 @@ void read_radio()
Log_Write_Radio(ch_roll,ch_pitch,ch_throttle,ch_yaw,ch_aux,ch_aux2);
// Motor arm logic
// Arm motor output : Throttle down and full yaw right for more than 2 seconds
if (ch_throttle < (MIN_THROTTLE + 100)) {
control_yaw = 0;
command_rx_yaw = ToDeg(yaw);
// Arm motor output : Throttle down and full yaw right for more than 2 seconds
if (ch_yaw > 1850) {
if (Arming_counter > ARM_DELAY){
if(ch_throttle > 800) {
@ -105,6 +132,7 @@ void read_radio()
}
else
Arming_counter=0;
// To Disarm motor output : Throttle down and full yaw left for more than 2 seconds
if (ch_yaw < 1150) {
if (Disarming_counter > DISARM_DELAY){