ardupilot/ArduCopter/motors.cpp

373 lines
12 KiB
C++

#include "Copter.h"
#define ARM_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 LOST_VEHICLE_DELAY 10 // called at 10hz so 1 second
static uint32_t auto_disarm_begin;
// arm_motors_check - checks for pilot input to arm or disarm the copter
// called at 10hz
void Copter::arm_motors_check()
{
static int16_t arming_counter;
// check if arming/disarm using rudder is allowed
AP_Arming::RudderArming arming_rudder = arming.get_rudder_arming_type();
if (arming_rudder == AP_Arming::RudderArming::IS_DISABLED) {
return;
}
#if TOY_MODE_ENABLED == ENABLED
if (g2.toy_mode.enabled()) {
// not armed with sticks in toy mode
return;
}
#endif
// ensure throttle is down
if (channel_throttle->get_control_in() > 0) {
arming_counter = 0;
return;
}
int16_t yaw_in = channel_yaw->get_control_in();
// full right
if (yaw_in > 4000) {
// increase the arming counter to a maximum of 1 beyond the auto trim counter
if (arming_counter <= AUTO_TRIM_DELAY) {
arming_counter++;
}
// arm the motors and configure for flight
if (arming_counter == ARM_DELAY && !motors->armed()) {
// reset arming counter if arming fail
if (!init_arm_motors(AP_Arming::Method::RUDDER)) {
arming_counter = 0;
}
}
// arm the motors and configure for flight
if (arming_counter == AUTO_TRIM_DELAY && motors->armed() && control_mode == STABILIZE) {
auto_trim_counter = 250;
// ensure auto-disarm doesn't trigger immediately
auto_disarm_begin = millis();
}
// full left and rudder disarming is enabled
} else if ((yaw_in < -4000) && (arming_rudder == AP_Arming::RudderArming::ARMDISARM)) {
if (!flightmode->has_manual_throttle() && !ap.land_complete) {
arming_counter = 0;
return;
}
// increase the counter to a maximum of 1 beyond the disarm delay
if (arming_counter <= DISARM_DELAY) {
arming_counter++;
}
// disarm the motors
if (arming_counter == DISARM_DELAY && motors->armed()) {
init_disarm_motors();
}
// Yaw is centered so reset arming counter
} else {
arming_counter = 0;
}
}
// auto_disarm_check - disarms the copter if it has been sitting on the ground in manual mode with throttle low for at least 15 seconds
void Copter::auto_disarm_check()
{
uint32_t tnow_ms = millis();
uint32_t disarm_delay_ms = 1000*constrain_int16(g.disarm_delay, 0, 127);
// exit immediately if we are already disarmed, or if auto
// disarming is disabled
if (!motors->armed() || disarm_delay_ms == 0 || control_mode == THROW) {
auto_disarm_begin = tnow_ms;
return;
}
// if the rotor is still spinning, don't initiate auto disarm
if (motors->get_spool_state() > AP_Motors::SpoolState::GROUND_IDLE) {
auto_disarm_begin = tnow_ms;
return;
}
// always allow auto disarm if using interlock switch or motors are Emergency Stopped
if ((ap.using_interlock && !motors->get_interlock()) || SRV_Channels::get_emergency_stop()) {
#if FRAME_CONFIG != HELI_FRAME
// 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
disarm_delay_ms /= 2;
#endif
} else {
bool sprung_throttle_stick = (g.throttle_behavior & THR_BEHAVE_FEEDBACK_FROM_MID_STICK) != 0;
bool thr_low;
if (flightmode->has_manual_throttle() || !sprung_throttle_stick) {
thr_low = ap.throttle_zero;
} else {
float deadband_top = get_throttle_mid() + g.throttle_deadzone;
thr_low = channel_throttle->get_control_in() <= deadband_top;
}
if (!thr_low || !ap.land_complete) {
// reset timer
auto_disarm_begin = tnow_ms;
}
}
// disarm once timer expires
if ((tnow_ms-auto_disarm_begin) >= disarm_delay_ms) {
init_disarm_motors();
auto_disarm_begin = tnow_ms;
}
}
// init_arm_motors - performs arming process including initialisation of barometer and gyros
// returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
bool Copter::init_arm_motors(const AP_Arming::Method method, const bool do_arming_checks)
{
static bool in_arm_motors = false;
// exit immediately if already in this function
if (in_arm_motors) {
return false;
}
in_arm_motors = true;
// return true if already armed
if (motors->armed()) {
in_arm_motors = false;
return true;
}
// run pre-arm-checks and display failures
if (do_arming_checks && !arming.all_checks_passing(method)) {
AP_Notify::events.arming_failed = true;
in_arm_motors = false;
return false;
}
// let logger know that we're armed (it may open logs e.g.)
AP::logger().set_vehicle_armed(true);
// disable cpu failsafe because initialising everything takes a while
failsafe_disable();
// notify that arming will occur (we do this early to give plenty of warning)
AP_Notify::flags.armed = true;
// call notify update a few times to ensure the message gets out
for (uint8_t i=0; i<=10; i++) {
notify.update();
}
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs().send_text(MAV_SEVERITY_INFO, "Arming motors");
#endif
// Remember Orientation
// --------------------
init_simple_bearing();
initial_armed_bearing = ahrs.yaw_sensor;
if (!ahrs.home_is_set()) {
// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
ahrs.resetHeightDatum();
Log_Write_Event(DATA_EKF_ALT_RESET);
// we have reset height, so arming height is zero
arming_altitude_m = 0;
} else if (!ahrs.home_is_locked()) {
// Reset home position if it has already been set before (but not locked)
if (!set_home_to_current_location(false)) {
// ignore failure
}
// remember the height when we armed
arming_altitude_m = inertial_nav.get_altitude() * 0.01;
}
update_super_simple_bearing(false);
// Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
#if MODE_SMARTRTL_ENABLED == ENABLED
g2.smart_rtl.set_home(position_ok());
#endif
// enable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(true);
hal.util->set_soft_armed(true);
#if SPRAYER_ENABLED == ENABLED
// turn off sprayer's test if on
sprayer.test_pump(false);
#endif
// enable output to motors
enable_motor_output();
// finally actually arm the motors
motors->armed(true);
Log_Write_Event(DATA_ARMED);
// log flight mode in case it was changed while vehicle was disarmed
logger.Write_Mode(control_mode, control_mode_reason);
// re-enable failsafe
failsafe_enable();
// perf monitor ignores delay due to arming
scheduler.perf_info.ignore_this_loop();
// flag exiting this function
in_arm_motors = false;
// Log time stamp of arming event
arm_time_ms = millis();
// Start the arming delay
ap.in_arming_delay = true;
// assumed armed without a arming, switch. Overridden in switches.cpp
ap.armed_with_switch = false;
// return success
return true;
}
// init_disarm_motors - disarm motors
void Copter::init_disarm_motors()
{
// return immediately if we are already disarmed
if (!motors->armed()) {
return;
}
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
#endif
// save compass offsets learned by the EKF if enabled
if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
Vector3f magOffsets;
if (ahrs.getMagOffsets(i, magOffsets)) {
compass.set_and_save_offsets(i, magOffsets);
}
}
}
#if AUTOTUNE_ENABLED == ENABLED
// save auto tuned parameters
mode_autotune.save_tuning_gains();
#endif
// we are not in the air
set_land_complete(true);
set_land_complete_maybe(true);
Log_Write_Event(DATA_DISARMED);
// send disarm command to motors
motors->armed(false);
#if MODE_AUTO_ENABLED == ENABLED
// reset the mission
mode_auto.mission.reset();
#endif
AP::logger().set_vehicle_armed(false);
// disable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(false);
hal.util->set_soft_armed(false);
ap.in_arming_delay = false;
}
// motors_output - send output to motors library which will adjust and send to ESCs and servos
void Copter::motors_output()
{
#if ADVANCED_FAILSAFE == ENABLED
// this is to allow the failsafe module to deliberately crash
// the vehicle. Only used in extreme circumstances to meet the
// OBC rules
if (g2.afs.should_crash_vehicle()) {
g2.afs.terminate_vehicle();
if (!g2.afs.terminating_vehicle_via_landing()) {
return;
}
// landing must continue to run the motors output
}
#endif
// Update arming delay state
if (ap.in_arming_delay && (!motors->armed() || millis()-arm_time_ms > ARMING_DELAY_SEC*1.0e3f || control_mode == THROW)) {
ap.in_arming_delay = false;
}
// output any servo channels
SRV_Channels::calc_pwm();
// cork now, so that all channel outputs happen at once
SRV_Channels::cork();
// update output on any aux channels, for manual passthru
SRV_Channels::output_ch_all();
// check if we are performing the motor test
if (ap.motor_test) {
motor_test_output();
} else {
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) {
motors->set_interlock(true);
Log_Write_Event(DATA_MOTORS_INTERLOCK_ENABLED);
} else if (motors->get_interlock() && !interlock) {
motors->set_interlock(false);
Log_Write_Event(DATA_MOTORS_INTERLOCK_DISABLED);
}
// send output signals to motors
motors->output();
}
// push all channels
SRV_Channels::push();
}
// check for pilot stick input to trigger lost vehicle alarm
void Copter::lost_vehicle_check()
{
static uint8_t soundalarm_counter;
// disable if aux switch is setup to vehicle alarm as the two could interfere
if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::LOST_VEHICLE_SOUND)) {
return;
}
// ensure throttle is down, motors not armed, pitch and roll rc at max. Note: rc1=roll rc2=pitch
if (ap.throttle_zero && !motors->armed() && (channel_roll->get_control_in() > 4000) && (channel_pitch->get_control_in() > 4000)) {
if (soundalarm_counter >= LOST_VEHICLE_DELAY) {
if (AP_Notify::flags.vehicle_lost == false) {
AP_Notify::flags.vehicle_lost = true;
gcs().send_text(MAV_SEVERITY_NOTICE,"Locate Copter alarm");
}
} else {
soundalarm_counter++;
}
} else {
soundalarm_counter = 0;
if (AP_Notify::flags.vehicle_lost == true) {
AP_Notify::flags.vehicle_lost = false;
}
}
}