mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.7 KiB
C++
56 lines
1.7 KiB
C++
/*
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* AP_ArmingMechanism.cpp
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*
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*/
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#include "AP_ArmingMechanism.h"
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#include "AP_Controller.h"
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#include "AP_RcChannel.h"
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#include "../FastSerial/FastSerial.h"
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#include "AP_Board.h"
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#include "AP_CommLink.h"
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namespace apo {
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void AP_ArmingMechanism::update(const float dt) {
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//_board->debug->printf_P(PSTR("ch1: %f\tch2: %f\n"),_board->rc[_ch1]->getRadioPosition(), _board->rc[_ch2]->getRadioPosition());
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// arming
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if ( (_controller->getState() != MAV_STATE_ACTIVE) &&
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(fabs(_board->rc[_ch1]->getRadioPosition()) < _ch1Min) &&
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(_board->rc[_ch2]->getRadioPosition() < _ch2Min) ) {
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// always start clock at 0
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if (_armingClock<0) _armingClock = 0;
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if (_armingClock++ >= 100) {
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_controller->setMode(MAV_MODE_READY);
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} else {
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_board->gcs->sendText(SEVERITY_HIGH, PSTR("arming"));
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}
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}
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// disarming
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else if ( (_controller->getState() == MAV_STATE_ACTIVE) &&
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(fabs(_board->rc[_ch1]->getRadioPosition()) < _ch1Min) &&
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(_board->rc[_ch2]->getRadioPosition() > _ch2Max) ) {
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// always start clock at 0
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if (_armingClock>0) _armingClock = 0;
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if (_armingClock-- <= -100) {
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_controller->setMode(MAV_MODE_LOCKED);
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} else {
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_board->gcs->sendText(SEVERITY_HIGH, PSTR("disarming"));
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}
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}
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// reset arming clock and report status
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else if (_armingClock != 0) {
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_armingClock = 0;
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if (_controller->getState()==MAV_STATE_ACTIVE) _board->gcs->sendText(SEVERITY_HIGH, PSTR("armed"));
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else if (_controller->getState()!=MAV_STATE_ACTIVE) _board->gcs->sendText(SEVERITY_HIGH, PSTR("disarmed"));
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}
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}
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} // apo
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// vim:ts=4:sw=4:expandtab
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