mirror of https://github.com/ArduPilot/ardupilot
Sub: move Arming functions into AP_Arming file
This commit is contained in:
Peter Barker
Randy Mackay
parent
13f7022cec
commit
b25acb4d22
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@ -43,3 +43,129 @@ bool AP_Arming_Sub::ins_checks(bool display_failure)
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return true;
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}
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bool AP_Arming_Sub::arm(AP_Arming::Method method, bool do_arming_checks)
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{
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static bool in_arm_motors = false;
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// exit immediately if already in this function
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if (in_arm_motors) {
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return false;
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}
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in_arm_motors = true;
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if (!AP_Arming::arm(method, do_arming_checks)) {
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AP_Notify::events.arming_failed = true;
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in_arm_motors = false;
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return false;
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}
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// let logger know that we're armed (it may open logs e.g.)
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AP::logger().set_vehicle_armed(true);
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// disable cpu failsafe because initialising everything takes a while
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sub.mainloop_failsafe_disable();
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// notify that arming will occur (we do this early to give plenty of warning)
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AP_Notify::flags.armed = true;
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// call notify update a few times to ensure the message gets out
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for (uint8_t i=0; i<=10; i++) {
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AP::notify().update();
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
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#endif
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AP_AHRS &ahrs = AP::ahrs();
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sub.initial_armed_bearing = ahrs.yaw_sensor;
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if (!ahrs.home_is_set()) {
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// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
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// Always use absolute altitude for ROV
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// ahrs.resetHeightDatum();
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// Log_Write_Event(DATA_EKF_ALT_RESET);
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} else if (ahrs.home_is_set() && !ahrs.home_is_locked()) {
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// Reset home position if it has already been set before (but not locked)
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if (!sub.set_home_to_current_location(false)) {
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// ignore this failure
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}
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}
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// enable gps velocity based centrefugal force compensation
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ahrs.set_correct_centrifugal(true);
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hal.util->set_soft_armed(true);
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// enable output to motors
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sub.enable_motor_output();
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// finally actually arm the motors
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sub.motors.armed(true);
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AP::logger().Write_Event(DATA_ARMED);
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// log flight mode in case it was changed while vehicle was disarmed
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AP::logger().Write_Mode(sub.control_mode, sub.control_mode_reason);
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// reenable failsafe
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sub.mainloop_failsafe_enable();
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// perf monitor ignores delay due to arming
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AP::scheduler().perf_info.ignore_this_loop();
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// flag exiting this function
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in_arm_motors = false;
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// return success
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return true;
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}
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bool AP_Arming_Sub::disarm()
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{
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// return immediately if we are already disarmed
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if (!sub.motors.armed()) {
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return false;
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}
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if (!AP_Arming::disarm()) {
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return false;
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
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#endif
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AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
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// save compass offsets learned by the EKF if enabled
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if (ahrs.use_compass() && AP::compass().get_learn_type() == Compass::LEARN_EKF) {
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for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
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Vector3f magOffsets;
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if (ahrs.getMagOffsets(i, magOffsets)) {
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AP::compass().set_and_save_offsets(i, magOffsets);
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}
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}
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}
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AP::logger().Write_Event(DATA_DISARMED);
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// send disarm command to motors
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sub.motors.armed(false);
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// reset the mission
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sub.mission.reset();
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AP::logger().set_vehicle_armed(false);
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// disable gps velocity based centrefugal force compensation
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ahrs.set_correct_centrifugal(false);
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hal.util->set_soft_armed(false);
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// clear input holds
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sub.clear_input_hold();
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return true;
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}
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@ -6,132 +6,6 @@ void Sub::enable_motor_output()
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motors.output_min();
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}
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bool AP_Arming_Sub::arm(AP_Arming::Method method, bool do_arming_checks)
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{
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static bool in_arm_motors = false;
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// exit immediately if already in this function
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if (in_arm_motors) {
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return false;
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}
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in_arm_motors = true;
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if (!AP_Arming::arm(method, do_arming_checks)) {
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AP_Notify::events.arming_failed = true;
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in_arm_motors = false;
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return false;
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}
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// let logger know that we're armed (it may open logs e.g.)
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AP::logger().set_vehicle_armed(true);
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// disable cpu failsafe because initialising everything takes a while
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sub.mainloop_failsafe_disable();
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// notify that arming will occur (we do this early to give plenty of warning)
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AP_Notify::flags.armed = true;
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// call notify update a few times to ensure the message gets out
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for (uint8_t i=0; i<=10; i++) {
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AP::notify().update();
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
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#endif
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AP_AHRS &ahrs = AP::ahrs();
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sub.initial_armed_bearing = ahrs.yaw_sensor;
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if (!ahrs.home_is_set()) {
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// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
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// Always use absolute altitude for ROV
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// ahrs.resetHeightDatum();
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// Log_Write_Event(DATA_EKF_ALT_RESET);
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} else if (ahrs.home_is_set() && !ahrs.home_is_locked()) {
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// Reset home position if it has already been set before (but not locked)
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if (!sub.set_home_to_current_location(false)) {
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// ignore this failure
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}
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}
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// enable gps velocity based centrefugal force compensation
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ahrs.set_correct_centrifugal(true);
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hal.util->set_soft_armed(true);
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// enable output to motors
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sub.enable_motor_output();
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// finally actually arm the motors
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sub.motors.armed(true);
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AP::logger().Write_Event(DATA_ARMED);
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// log flight mode in case it was changed while vehicle was disarmed
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AP::logger().Write_Mode(sub.control_mode, sub.control_mode_reason);
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// reenable failsafe
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sub.mainloop_failsafe_enable();
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// perf monitor ignores delay due to arming
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AP::scheduler().perf_info.ignore_this_loop();
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// flag exiting this function
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in_arm_motors = false;
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// return success
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return true;
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}
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bool AP_Arming_Sub::disarm()
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{
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// return immediately if we are already disarmed
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if (!sub.motors.armed()) {
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return false;
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}
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if (!AP_Arming::disarm()) {
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return false;
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
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#endif
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AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
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// save compass offsets learned by the EKF if enabled
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if (ahrs.use_compass() && AP::compass().get_learn_type() == Compass::LEARN_EKF) {
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for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
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Vector3f magOffsets;
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if (ahrs.getMagOffsets(i, magOffsets)) {
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AP::compass().set_and_save_offsets(i, magOffsets);
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}
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}
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}
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AP::logger().Write_Event(DATA_DISARMED);
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// send disarm command to motors
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sub.motors.armed(false);
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// reset the mission
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sub.mission.reset();
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AP::logger().set_vehicle_armed(false);
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// disable gps velocity based centrefugal force compensation
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ahrs.set_correct_centrifugal(false);
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hal.util->set_soft_armed(false);
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// clear input holds
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sub.clear_input_hold();
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return true;
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}
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// motors_output - send output to motors library which will adjust and send to ESCs and servos
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void Sub::motors_output()
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{
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