Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-27 02:58:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: move arming delay logic into AP_Arming_Plane

Browse Source
This commit is contained in:
Mark Whitehorn 2020-06-16 12:52:26 -06:00 committed by Andrew Tridgell
parent 2b4772269d
commit 629f2153e0
4 changed files with 24 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
ArduPlane/AP_Arming.cpp
View File

@ -4,6 +4,8 @@
#include "AP_Arming.h"
#include "Plane.h"
constexpr uint32_t AP_ARMING_DELAY_MS = 2000; // delay from arming to start of motor spoolup
const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = {
// variables from parent vehicle
AP_NESTEDGROUPINFO(AP_Arming, 0),
@ -187,7 +189,9 @@ bool AP_Arming_Plane::arm(const AP_Arming::Method method, const bool do_arming_c
}
change_arm_state();
plane.quadplane.delay_arming = true;
// rising edge of delay_arming oneshot
delay_arming = true;
gcs().send_text(MAV_SEVERITY_INFO, "Throttle armed");
@ -246,5 +250,12 @@ void AP_Arming_Plane::update_soft_armed()
hal.util->set_soft_armed(is_armed() &&
hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
// update delay_arming oneshot
if (delay_arming &&
(AP_HAL::millis() - hal.util->get_last_armed_change() >= AP_ARMING_DELAY_MS)) {
delay_arming = false;
}
}

5
ArduPlane/AP_Arming.h
View File

@ -28,10 +28,15 @@ public:
bool arm(AP_Arming::Method method, bool do_arming_checks=true) override;
void update_soft_armed();
bool get_delay_arming() { return delay_arming; };
protected:
bool ins_checks(bool report) override;
private:
void change_arm_state(void);
// oneshot with duration AP_ARMING_DELAY_MS used by quadplane to delay spoolup after arming:
// ignored unless OPTION_DELAY_ARMING or OPTION_TILT_DISARMED is set
bool delay_arming;
};

8
ArduPlane/quadplane.cpp
View File

@ -483,6 +483,7 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
// @Range: 0.1 1
// @User: Standard
AP_GROUPINFO("TAILSIT_GSCMIN", 18, QuadPlane, tailsitter.gain_scaling_min, 0.4),
// @Param: ASSIST_DELAY
// @DisplayName: Quadplane assistance delay
// @Description: This is delay between the assistance thresholds being met and the assistance starting.
@ -2010,16 +2011,11 @@ void QuadPlane::motors_output(bool run_rate_controller)
2) to allow motors to return to vertical (OPTION_DISARMED_TILT)
*/
if ((options & OPTION_DISARMED_TILT) || (options & OPTION_DELAY_ARMING)) {
constexpr uint32_t ARMING_DELAY_MS = 2000;
if (delay_arming) {
if (AP_HAL::millis() - hal.util->get_last_armed_change() < ARMING_DELAY_MS) {
if (plane.arming.get_delay_arming()) {
// delay motor start after arming
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
motors->output();
return;
} else {
delay_arming = false;
}
}
}

1
ArduPlane/quadplane.h
View File

@ -575,6 +575,7 @@ private:
float last_land_final_agl;
// oneshot with duration ARMING_DELAY_MS used by quadplane to delay spoolup after arming:
// ignored unless OPTION_DELAY_ARMING or OPTION_TILT_DISARMED is set
bool delay_arming;