ardupilot/ArduCopter/motors.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define ARM_DELAY 10 // one secon
#define DISARM_DELAY 10 // one secon
#define LEVEL_DELAY 120 // twelve seconds
#define AUTO_LEVEL_DELAY 150 // twentyfive seconds
// called at 10hz
static void arm_motors()
{
static int arming_counter;
// Arm motor output : Throttle down and full yaw right for more than 2 seconds
if (g.rc_3.control_in == 0){
// full right
if (g.rc_4.control_in > 4000) {
// don't allow arming in anything but manual
if (control_mode < ALT_HOLD){
if (arming_counter > AUTO_LEVEL_DELAY){
auto_level_counter = 155;
arming_counter = 0;
}else if (arming_counter == ARM_DELAY){
#if HIL_MODE != HIL_MODE_DISABLED
hil.send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
#endif
motor_armed = true;
arming_counter = ARM_DELAY;
// Tune down DCM
// -------------------
#if HIL_MODE != HIL_MODE_ATTITUDE
dcm.kp_roll_pitch(0.030000);
dcm.ki_roll_pitch(0.00001278), // 50 hz I term
//dcm.ki_roll_pitch(0.000006);
#endif
// tune down compass
// -----------------
dcm.kp_yaw(0.08);
dcm.ki_yaw(0);
// Remember Orientation
// --------------------
init_simple_bearing();
// Reset home position
// ----------------------
if(home_is_set)
init_home();
if(did_ground_start == false){
did_ground_start = true;
startup_ground();
}
#if HIL_MODE != HIL_MODE_ATTITUDE
// read Baro pressure at ground -
// this resets Baro for more accuracy
//-----------------------------------
init_barometer();
#endif
// temp hack
motor_light = true;
digitalWrite(A_LED_PIN, HIGH);
arming_counter++;
} else{
arming_counter++;
}
}
// full left
}else if (g.rc_4.control_in < -4000) {
//Serial.print(arming_counter, DEC);
if (arming_counter > LEVEL_DELAY){
//Serial.print("init");
imu.init_accel(mavlink_delay);
arming_counter = 0;
}else if (arming_counter == DISARM_DELAY){
#if HIL_MODE != HIL_MODE_DISABLED
hil.send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
#endif
motor_armed = false;
arming_counter = DISARM_DELAY;
compass.save_offsets();
// Tune down DCM
// -------------------
#if HIL_MODE != HIL_MODE_ATTITUDE
dcm.kp_roll_pitch(0.12); // higher for fast recovery
//dcm.ki_roll_pitch(0.00000319); // 1/4 of the normal rate for 200 hz loop
#endif
// tune up compass
// -----------------
dcm.kp_yaw(0.8);
dcm.ki_yaw(0.00004);
// Clear throttle slew
// -------------------
//throttle_slew = 0;
arming_counter++;
}else{
arming_counter++;
}
// centered
}else{
arming_counter = 0;
}
}else{
arming_counter = 0;
}
}
/*****************************************
* Set the flight control servos based on the current calculated values
*****************************************/
static void
set_servos_4()
{
if (motor_armed == true && motor_auto_armed == true) {
// creates the radio_out and pwm_out values
output_motors_armed();
} else{
output_motors_disarmed();
}
}