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Copter: move E-stop state to SRV_Channel

This commit is contained in:
IamPete1 2019-01-25 18:57:36 +00:00 committed by Randy Mackay
parent 8f9f572489
commit ba3d1bc6c7
6 changed files with 12 additions and 34 deletions
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4
ArduCopter/AP_Arming.cpp
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@ -565,9 +565,9 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::ArmingMethod
// if we are not using Emergency Stop switch option, force Estop false to ensure motors // if we are not using Emergency Stop switch option, force Estop false to ensure motors
// can run normally // can run normally
if (!rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_ESTOP)){ if (!rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_ESTOP)){
copter.set_motor_emergency_stop(false); SRV_Channels::set_emergency_stop(false);
// if we are using motor Estop switch, it must not be in Estop position // if we are using motor Estop switch, it must not be in Estop position
} else if (rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_ESTOP) && copter.ap.motor_emergency_stop){ } else if (rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_ESTOP) && SRV_Channels::get_emergency_stop()){
gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped"); gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped");
return false; return false;
} }

14
ArduCopter/AP_State.cpp
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@ -89,17 +89,3 @@ void Copter::update_using_interlock()
ap.using_interlock = rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_INTERLOCK) != nullptr; ap.using_interlock = rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_INTERLOCK) != nullptr;
#endif #endif
} }
void Copter::set_motor_emergency_stop(bool b)
{
if(ap.motor_emergency_stop != b) {
ap.motor_emergency_stop = b;
}
// Log new status
if (ap.motor_emergency_stop){
Log_Write_Event(DATA_MOTORS_EMERGENCY_STOPPED);
} else {
Log_Write_Event(DATA_MOTORS_EMERGENCY_STOP_CLEARED);
}
}

16
ArduCopter/Copter.h
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@ -313,14 +313,13 @@ private:
uint8_t system_time_set_unused : 1; // 16 // true if the system time has been set from the GPS uint8_t system_time_set_unused : 1; // 16 // true if the system time has been set from the GPS
uint8_t gps_glitching : 1; // 17 // true if GPS glitching is affecting navigation accuracy uint8_t gps_glitching : 1; // 17 // true if GPS glitching is affecting navigation accuracy
uint8_t using_interlock : 1; // 20 // aux switch motor interlock function is in use uint8_t using_interlock : 1; // 20 // aux switch motor interlock function is in use
uint8_t motor_emergency_stop : 1; // 21 // motor estop switch, shuts off motors when enabled uint8_t land_repo_active : 1; // 21 // true if the pilot is overriding the landing position
uint8_t land_repo_active : 1; // 22 // true if the pilot is overriding the landing position uint8_t motor_interlock_switch : 1; // 22 // true if pilot is requesting motor interlock enable
uint8_t motor_interlock_switch : 1; // 23 // true if pilot is requesting motor interlock enable uint8_t in_arming_delay : 1; // 23 // true while we are armed but waiting to spin motors
uint8_t in_arming_delay : 1; // 24 // true while we are armed but waiting to spin motors uint8_t initialised_params : 1; // 24 // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
uint8_t initialised_params : 1; // 25 // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done uint8_t compass_init_location : 1; // 25 // true when the compass's initial location has been set
uint8_t compass_init_location : 1; // 26 // true when the compass's initial location has been set uint8_t unused2 : 1; // 26 // aux switch rc_override is allowed
uint8_t unused2 : 1; // 27 // aux switch rc_override is allowed uint8_t armed_with_switch : 1; // 27 // we armed using a arming switch
uint8_t armed_with_switch : 1; // 28 // we armed using a arming switch
}; };
uint32_t value; uint32_t value;
} ap_t; } ap_t;
@ -613,7 +612,6 @@ private:
void set_failsafe_radio(bool b); void set_failsafe_radio(bool b);
void set_failsafe_gcs(bool b); void set_failsafe_gcs(bool b);
void update_using_interlock(); void update_using_interlock();
void set_motor_emergency_stop(bool b);
// ArduCopter.cpp // ArduCopter.cpp
void fast_loop(); void fast_loop();

6
ArduCopter/RC_Channel.cpp
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@ -74,7 +74,6 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const aux_
case MISSION_RESET: case MISSION_RESET:
case ATTCON_FEEDFWD: case ATTCON_FEEDFWD:
case ATTCON_ACCEL_LIM: case ATTCON_ACCEL_LIM:
case MOTOR_ESTOP:
case MOTOR_INTERLOCK: case MOTOR_INTERLOCK:
case AVOID_ADSB: case AVOID_ADSB:
case PRECISION_LOITER: case PRECISION_LOITER:
@ -354,11 +353,6 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
#endif #endif
break; break;
case MOTOR_ESTOP:
// Turn on Emergency Stop logic when channel is high
copter.set_motor_emergency_stop(ch_flag == HIGH);
break;
case MOTOR_INTERLOCK: case MOTOR_INTERLOCK:
// Turn on when above LOW, because channel will also be used for speed // Turn on when above LOW, because channel will also be used for speed
// control signal in tradheli // control signal in tradheli

4
ArduCopter/motors.cpp
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@ -102,7 +102,7 @@ void Copter::auto_disarm_check()
#endif #endif
// always allow auto disarm if using interlock switch or motors are Emergency Stopped // always allow auto disarm if using interlock switch or motors are Emergency Stopped
if ((ap.using_interlock && !motors->get_interlock()) || ap.motor_emergency_stop) { if ((ap.using_interlock && !motors->get_interlock()) || SRV_Channels::get_emergency_stop()) {
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
// use a shorter delay if using throttle interlock switch or Emergency Stop, because it is less // 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 // obvious the copter is armed as the motors will not be spinning
@ -330,7 +330,7 @@ void Copter::motors_output()
if (ap.motor_test) { if (ap.motor_test) {
motor_test_output(); motor_test_output();
} else { } else {
bool interlock = motors->armed() && !ap.in_arming_delay && (!ap.using_interlock || ap.motor_interlock_switch) && !ap.motor_emergency_stop; bool interlock = motors->armed() && !ap.in_arming_delay && (!ap.using_interlock || ap.motor_interlock_switch) && !SRV_Channels::get_emergency_stop();
if (!motors->get_interlock() && interlock) { if (!motors->get_interlock() && interlock) {
motors->set_interlock(true); motors->set_interlock(true);
Log_Write_Event(DATA_MOTORS_INTERLOCK_ENABLED); Log_Write_Event(DATA_MOTORS_INTERLOCK_ENABLED);

2
ArduCopter/radio.cpp
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@ -191,7 +191,7 @@ void Copter::set_throttle_zero_flag(int16_t throttle_control)
// if not using throttle interlock and non-zero throttle and not E-stopped, // if not using throttle interlock and non-zero throttle and not E-stopped,
// or using motor interlock and it's enabled, then motors are running, // or using motor interlock and it's enabled, then motors are running,
// and we are flying. Immediately set as non-zero // and we are flying. Immediately set as non-zero
if ((!ap.using_interlock && (throttle_control > 0) && !ap.motor_emergency_stop) || if ((!ap.using_interlock && (throttle_control > 0) && !SRV_Channels::get_emergency_stop()) ||
(ap.using_interlock && motors->get_interlock()) || (ap.using_interlock && motors->get_interlock()) ||
ap.armed_with_switch) { ap.armed_with_switch) {
last_nonzero_throttle_ms = tnow_ms; last_nonzero_throttle_ms = tnow_ms;