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Copter: Modify auto-disarm process for throttle interlock

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Robert Lefebvre 2015-03-13 14:33:19 -04:00 committed by Randy Mackay
parent 7349827eb1
commit b82113acc7
1 changed files with 17 additions and 4 deletions
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21
ArduCopter/motors.pde
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@ -3,7 +3,8 @@
#define ARM_DELAY 20 // called at 10hz so 2 seconds #define ARM_DELAY 20 // called at 10hz so 2 seconds
#define DISARM_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_TRIM_DELAY 100 // called at 10hz so 10 seconds
#define AUTO_DISARMING_DELAY 15 // called at 1hz so 15 seconds #define AUTO_DISARMING_DELAY_LONG 15 // called at 1hz so 15 seconds
#define AUTO_DISARMING_DELAY_SHORT 5 // called at 1hz so 5 seconds
#define LOST_VEHICLE_DELAY 10 // called at 10hz so 1 second #define LOST_VEHICLE_DELAY 10 // called at 10hz so 1 second
static uint8_t auto_disarming_counter; static uint8_t auto_disarming_counter;
@ -72,17 +73,29 @@ static void arm_motors_check()
// called at 1hz // called at 1hz
static void auto_disarm_check() static void auto_disarm_check()
{ {
// exit immediately if we are already disarmed or throttle is not zero
uint8_t delay;
// exit immediately if we are already disarmed or throttle output is not zero,
if (!motors.armed() || !ap.throttle_zero) { if (!motors.armed() || !ap.throttle_zero) {
auto_disarming_counter = 0; auto_disarming_counter = 0;
return; return;
} }
// allow auto disarm in manual flight modes or Loiter/AltHold if we're landed // allow auto disarm in manual flight modes or Loiter/AltHold if we're landed
if (mode_has_manual_throttle(control_mode) || ap.land_complete) { // always allow auto disarm if using interlock switch or motors are E-stopped
if (mode_has_manual_throttle(control_mode) || ap.land_complete || (ap.using_interlock && !ap.motor_interlock) || ap.motor_estop) {
auto_disarming_counter++; auto_disarming_counter++;
if(auto_disarming_counter >= AUTO_DISARMING_DELAY) { // use a shorter delay if using throttle interlock switch or E-stop, because it is less
// obvious the copter is armed as the motors will not be spinning
if (ap.using_interlock || ap.motor_estop){
delay = AUTO_DISARMING_DELAY_SHORT;
} else {
delay = AUTO_DISARMING_DELAY_LONG;
}
if(auto_disarming_counter >= delay) {
init_disarm_motors(); init_disarm_motors();
auto_disarming_counter = 0; auto_disarming_counter = 0;
} }