mirror of https://github.com/ArduPilot/ardupilot
92 lines
2.8 KiB
C++
92 lines
2.8 KiB
C++
#include "Blimp.h"
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#define ARM_DELAY 20 // called at 10hz so 2 seconds
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#define DISARM_DELAY 20 // called at 10hz so 2 seconds
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#define AUTO_TRIM_DELAY 100 // called at 10hz so 10 seconds
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#define LOST_VEHICLE_DELAY 10 // called at 10hz so 1 second
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// arm_motors_check - checks for pilot input to arm or disarm the blimp
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// called at 10hz
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void Blimp::arm_motors_check()
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{
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static int16_t arming_counter;
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// check if arming/disarm using rudder is allowed
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AP_Arming::RudderArming arming_rudder = arming.get_rudder_arming_type();
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if (arming_rudder == AP_Arming::RudderArming::IS_DISABLED) {
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return;
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}
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// ensure throttle is down
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if (channel_down->get_control_in() > 0) { //MIR what dow we do with this?
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arming_counter = 0;
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return;
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}
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int16_t yaw_in = channel_yaw->get_control_in();
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// full right
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if (yaw_in > 900) {
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// increase the arming counter to a maximum of 1 beyond the auto trim counter
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if (arming_counter <= AUTO_TRIM_DELAY) {
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arming_counter++;
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}
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// arm the motors and configure for flight
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if (arming_counter == ARM_DELAY && !motors->armed()) {
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// reset arming counter if arming fail
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if (!arming.arm(AP_Arming::Method::RUDDER)) {
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arming_counter = 0;
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}
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}
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// arm the motors and configure for flight
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if (arming_counter == AUTO_TRIM_DELAY && motors->armed() && control_mode == Mode::Number::MANUAL) {
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gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim start");
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auto_trim_counter = 250;
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auto_trim_started = false;
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}
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// full left and rudder disarming is enabled
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} else if ((yaw_in < -900) && (arming_rudder == AP_Arming::RudderArming::ARMDISARM)) {
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if (!flightmode->has_manual_throttle() && !ap.land_complete) {
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arming_counter = 0;
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return;
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}
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// increase the counter to a maximum of 1 beyond the disarm delay
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if (arming_counter <= DISARM_DELAY) {
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arming_counter++;
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}
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// disarm the motors
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if (arming_counter == DISARM_DELAY && motors->armed()) {
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arming.disarm(AP_Arming::Method::RUDDER);
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}
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// Yaw is centered so reset arming counter
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} else {
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arming_counter = 0;
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}
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}
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// motors_output - send output to motors library which will adjust and send to ESCs and servos
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void Blimp::motors_output()
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{
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// output any servo channels
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SRV_Channels::calc_pwm();
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// cork now, so that all channel outputs happen at once
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SRV_Channels::cork();
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// update output on any aux channels, for manual passthru
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SRV_Channels::output_ch_all();
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// send output signals to motors
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motors->output();
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// push all channels
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SRV_Channels::push();
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} |