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Copter: added DISARM_DELAY parameter

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this allows automatic disarming to be disabled, or set to a shorter or
longer time as appropriate for the user

Originally committed by Tridge, merged to AC3.3 with conflict.
This commit is contained in:
Andrew Tridgell 2015-08-31 11:44:08 +10:00 committed by Randy Mackay
parent c0ea1f70ef
commit 6e93f111c9
4 changed files with 19 additions and 11 deletions
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8
ArduCopter/Parameters.cpp
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@ -447,6 +447,14 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
// @User: Standard
GSCALAR(arming_check, "ARMING_CHECK", ARMING_CHECK_ALL),
// @Param: DISARM_DELAY
// @DisplayName: Disarm delay
// @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.
// @Units: Seconds
// @Range: 0 127
// @User: Advanced
GSCALAR(disarm_delay, "DISARM_DELAY", AUTO_DISARMING_DELAY),
// @Param: ANGLE_MAX
// @DisplayName: Angle Max
// @Description: Maximum lean angle in all flight modes

2
ArduCopter/Parameters.h
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@ -170,6 +170,7 @@ public:
// 90: Motors
//
k_param_motors = 90,
k_param_disarm_delay,
//
// 100: Inertial Nav
@ -427,6 +428,7 @@ public:
AP_Int8 ch11_option;
AP_Int8 ch12_option;
AP_Int8 arming_check;
AP_Int8 disarm_delay;
AP_Int8 land_repositioning;
AP_Int8 fs_ekf_action;

4
ArduCopter/config.h
View File

@ -688,6 +688,10 @@
# define ALT_HOLD_ACCEL_MAX 250 // if you change this you must also update the duplicate declaration in AC_WPNav.h
#endif
#ifndef AUTO_DISARMING_DELAY
# define AUTO_DISARMING_DELAY 10
#endif
//////////////////////////////////////////////////////////////////////////////
// Dataflash logging control
//

16
ArduCopter/motors.cpp
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@ -5,8 +5,6 @@
#define ARM_DELAY 20 // called at 10hz so 2 seconds
#define DISARM_DELAY 20 // called at 10hz so 2 seconds
#define AUTO_TRIM_DELAY 100 // called at 10hz so 10 seconds
#define AUTO_DISARMING_DELAY_LONG 10 // called at 1hz so 10 seconds
#define AUTO_DISARMING_DELAY_SHORT 5 // called at 1hz so 5 seconds
#define LOST_VEHICLE_DELAY 10 // called at 10hz so 1 second
static uint8_t auto_disarming_counter;
@ -75,10 +73,11 @@ void Copter::arm_motors_check()
// called at 1hz
void Copter::auto_disarm_check()
{
uint8_t disarm_delay = AUTO_DISARMING_DELAY_LONG;
uint8_t disarm_delay = constrain_int16(g.disarm_delay, 0, 127);
// exit immediately if we are already disarmed
if (!motors.armed()) {
// exit immediately if we are already disarmed, or if auto
// disarming is disabled
if (!motors.armed() || disarm_delay == 0) {
auto_disarming_counter = 0;
return;
}
@ -86,14 +85,9 @@ void Copter::auto_disarm_check()
// always allow auto disarm if using interlock switch or motors are Emergency Stopped
if ((ap.using_interlock && !motors.get_interlock()) || ap.motor_emergency_stop) {
auto_disarming_counter++;
#if FRAME_CONFIG == HELI_FRAME
// helicopters do not use short disarm delay as they could be in auto-rotation.
disarm_delay = AUTO_DISARMING_DELAY_LONG;
#else
// use a shorter delay if using throttle interlock switch or Emergency Stop, because it is less
// obvious the copter is armed as the motors will not be spinning
disarm_delay = AUTO_DISARMING_DELAY_SHORT;
#endif
disarm_delay /= 2;
} else {
bool sprung_throttle_stick = (g.throttle_behavior & THR_BEHAVE_FEEDBACK_FROM_MID_STICK) != 0;
bool thr_low;