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Copter: fix LED notify during auto esc calibration

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This commit is contained in:
Randy Mackay 2017-05-09 15:57:40 +09:00
parent 6105452ccb
commit 5915439c4e
2 changed files with 23 additions and 11 deletions
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4
ArduCopter/Copter.h
View File

@ -589,6 +589,9 @@ private:
// last valid RC input time // last valid RC input time
uint32_t last_radio_update_ms; uint32_t last_radio_update_ms;
// last esc calibration notification update
uint32_t esc_calibration_notify_update_ms;
#if VISUAL_ODOMETRY_ENABLED == ENABLED #if VISUAL_ODOMETRY_ENABLED == ENABLED
// last visual odometry update time // last visual odometry update time
uint32_t visual_odom_last_update_ms; uint32_t visual_odom_last_update_ms;
@ -939,6 +942,7 @@ private:
void esc_calibration_startup_check(); void esc_calibration_startup_check();
void esc_calibration_passthrough(); void esc_calibration_passthrough();
void esc_calibration_auto(); void esc_calibration_auto();
void esc_calibration_notify();
bool should_disarm_on_failsafe(); bool should_disarm_on_failsafe();
void failsafe_radio_on_event(); void failsafe_radio_on_event();
void failsafe_radio_off_event(); void failsafe_radio_off_event();

30
ArduCopter/esc_calibration.cpp
View File

@ -102,15 +102,9 @@ void Copter::esc_calibration_passthrough()
motors->enable(); motors->enable();
SRV_Channels::enable_by_mask(motors->get_motor_mask()); SRV_Channels::enable_by_mask(motors->get_motor_mask());
uint32_t last_notify_update_ms = 0;
while(1) { while(1) {
// flash LEDS // flash LEDs
AP_Notify::flags.esc_calibration = true; esc_calibration_notify();
uint32_t now = AP_HAL::millis();
if (now - last_notify_update_ms > 20) {
last_notify_update_ms = now;
update_notify();
}
// read pilot input // read pilot input
read_radio(); read_radio();
@ -147,8 +141,8 @@ void Copter::esc_calibration_auto()
motors->enable(); motors->enable();
SRV_Channels::enable_by_mask(motors->get_motor_mask()); SRV_Channels::enable_by_mask(motors->get_motor_mask());
// flash LEDS // flash LEDs
AP_Notify::flags.esc_calibration = true; esc_calibration_notify();
// raise throttle to maximum // raise throttle to maximum
delay(10); delay(10);
@ -160,6 +154,7 @@ void Copter::esc_calibration_auto()
printed_msg = true; printed_msg = true;
} }
motors->set_throttle_passthrough_for_esc_calibration(1.0f); motors->set_throttle_passthrough_for_esc_calibration(1.0f);
esc_calibration_notify();
delay(3); delay(3);
} }
@ -167,6 +162,7 @@ void Copter::esc_calibration_auto()
uint32_t tstart = millis(); uint32_t tstart = millis();
while (millis() - tstart < 5000) { while (millis() - tstart < 5000) {
motors->set_throttle_passthrough_for_esc_calibration(1.0f); motors->set_throttle_passthrough_for_esc_calibration(1.0f);
esc_calibration_notify();
delay(3); delay(3);
} }
@ -178,8 +174,20 @@ void Copter::esc_calibration_auto()
// block until we restart // block until we restart
while(1) { while(1) {
delay(3);
motors->set_throttle_passthrough_for_esc_calibration(0.0f); motors->set_throttle_passthrough_for_esc_calibration(0.0f);
esc_calibration_notify();
delay(3);
} }
#endif // FRAME_CONFIG != HELI_FRAME #endif // FRAME_CONFIG != HELI_FRAME
} }
// flash LEDs to notify the user that ESC calibration is happening
void Copter::esc_calibration_notify()
{
AP_Notify::flags.esc_calibration = true;
uint32_t now = AP_HAL::millis();
if (now - esc_calibration_notify_update_ms > 20) {
esc_calibration_notify_update_ms = now;
update_notify();
}
}