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Copter: add throttle_zero state

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Jonathan Challinger 2014-10-07 07:01:15 -07:00 committed by Randy Mackay
parent fa9d10e59b
commit 96f50b7cd7
2 changed files with 15 additions and 3 deletions
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1
ArduCopter/ArduCopter.pde
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@ -390,6 +390,7 @@ static union {
uint8_t motor_test : 1; // 16 // true if we are currently performing the motors test
uint8_t initialised : 1; // 17 // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes
uint8_t land_complete_maybe : 1; // 18 // true if we may have landed (less strict version of land_complete)
uint8_t throttle_zero : 1; // 19 // true if the throttle stick is at zero, debounced
};
uint32_t value;
} ap;

17
ArduCopter/radio.pde
View File

@ -74,11 +74,15 @@ void output_min()
motors.output_min();
}
#define THROTTLE_ZERO_DEBOUNCE_TIME_MS 400
static void read_radio()
{
static uint32_t last_update = 0;
static uint32_t last_update_ms = 0;
static uint32_t last_nonzero_throttle_ms = 0;
uint32_t tnow_ms = millis();
if (hal.rcin->new_input()) {
last_update = millis();
last_update_ms = tnow_ms;
ap.new_radio_frame = true;
uint16_t periods[8];
hal.rcin->read(periods,8);
@ -93,6 +97,13 @@ static void read_radio()
g.rc_7.set_pwm(periods[6]);
g.rc_8.set_pwm(periods[7]);
if (g.rc_3.control_in != 0) {
last_nonzero_throttle_ms = tnow_ms;
ap.throttle_zero = false;
} else if (tnow_ms - last_nonzero_throttle_ms > THROTTLE_ZERO_DEBOUNCE_TIME_MS) {
ap.throttle_zero = true;
}
// read channels 9 ~ 14
for (uint8_t i=8; i<RC_MAX_CHANNELS; i++) {
if (RC_Channel::rc_channel(i) != NULL) {
@ -108,7 +119,7 @@ static void read_radio()
// update output on any aux channels, for manual passthru
RC_Channel_aux::output_ch_all();
}else{
uint32_t elapsed = millis() - last_update;
uint32_t elapsed = tnow_ms - last_update_ms;
// turn on throttle failsafe if no update from the RC Radio for 500ms or 2000ms if we are using RC_OVERRIDE
if (((!failsafe.rc_override_active && (elapsed >= FS_RADIO_TIMEOUT_MS)) || (failsafe.rc_override_active && (elapsed >= FS_RADIO_RC_OVERRIDE_TIMEOUT_MS))) &&
(g.failsafe_throttle && motors.armed() && !failsafe.radio)) {