mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.6 KiB
C++
70 lines
1.6 KiB
C++
/*
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* AP_ArmingMechanism.h
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*
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*/
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#ifndef AP_ARMINGMECHANISM_H_
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#define AP_ARMINGMECHANISM_H_
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#include <inttypes.h>
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#include <wiring.h>
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namespace apo {
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class AP_Board;
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class AP_Controller;
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class AP_ArmingMechanism {
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public:
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/**
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* Constructor
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*
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* @param ch1: typically throttle channel
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* @param ch2: typically yaw channel
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* @param ch1Min: disarms/arms belows this
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* @param ch2Min: disarms below this
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* @param ch2Max: arms above this
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*/
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AP_ArmingMechanism(AP_Board * board, AP_Controller * controller,
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uint8_t ch1, uint8_t ch2, float ch1Min, float ch2Min,
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float ch2Max) : _armingClock(0), _board(board), _controller(controller),
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_ch1(ch1), _ch2(ch2), _ch1Min(ch1Min), _ch2Min(ch2Min), _ch2Max(ch2Max) {
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}
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/**
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* update
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*
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* arming:
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*
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* to arm: put stick to bottom right for 100 controller cycles
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* (max yaw, min throttle)
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*
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* didn't use clock here in case of millis() roll over
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* for long runs
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*
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* disarming:
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*
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* to disarm: put stick to bottom left for 100 controller cycles
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* (min yaw, min throttle)
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*/
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void update(const float dt);
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private:
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AP_Board * _board;
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AP_Controller * _controller;
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int8_t _armingClock;
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uint8_t _ch1; /// typically throttle channel
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uint8_t _ch2; /// typically yaw channel
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float _ch1Min; /// arms/disarms below this on ch1
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float _ch2Min; /// disarms below this on ch2
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float _ch2Max; /// arms above this on ch2
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};
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} // namespace apo
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#endif /* AP_ARMINGMECHANISM */
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// vim:ts=4:sw=4:expandtab
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