mirror of https://github.com/ArduPilot/ardupilot
933 lines
32 KiB
C++
933 lines
32 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.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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static uint32_t auto_disarm_begin;
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// arm_motors_check - checks for pilot input to arm or disarm the copter
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// called at 10hz
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void Copter::arm_motors_check()
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{
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static int16_t arming_counter;
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// ensure throttle is down
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if (channel_throttle->control_in > 0) {
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arming_counter = 0;
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return;
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}
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int16_t tmp = channel_yaw->control_in;
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// full right
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if (tmp > 4000) {
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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 (!init_arm_motors(false)) {
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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 == STABILIZE) {
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auto_trim_counter = 250;
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// ensure auto-disarm doesn't trigger immediately
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auto_disarm_begin = millis();
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}
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// full left
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}else if (tmp < -4000) {
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if (!mode_has_manual_throttle(control_mode) && !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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init_disarm_motors();
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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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// 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
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void Copter::auto_disarm_check()
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{
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uint32_t tnow_ms = millis();
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uint32_t disarm_delay_ms = 1000*constrain_int16(g.disarm_delay, 0, 127);
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// exit immediately if we are already disarmed, or if auto
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// disarming is disabled
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if (!motors.armed() || disarm_delay_ms == 0) {
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auto_disarm_begin = tnow_ms;
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return;
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}
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#if FRAME_CONFIG == HELI_FRAME
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// if the rotor is still spinning, don't initiate auto disarm
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if (motors.rotor_speed_above_critical()) {
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auto_disarm_begin = tnow_ms;
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return;
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}
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#endif
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// always allow auto disarm if using interlock switch or motors are Emergency Stopped
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if ((ap.using_interlock && !motors.get_interlock()) || ap.motor_emergency_stop) {
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#if FRAME_CONFIG != HELI_FRAME
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// use a shorter delay if using throttle interlock switch or Emergency Stop, because it is less
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// obvious the copter is armed as the motors will not be spinning
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disarm_delay_ms /= 2;
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#endif
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} else {
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bool sprung_throttle_stick = (g.throttle_behavior & THR_BEHAVE_FEEDBACK_FROM_MID_STICK) != 0;
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bool thr_low;
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if (mode_has_manual_throttle(control_mode) || !sprung_throttle_stick) {
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thr_low = ap.throttle_zero;
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} else {
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float deadband_top = g.rc_3.get_control_mid() + g.throttle_deadzone;
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thr_low = g.rc_3.control_in <= deadband_top;
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}
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if (!thr_low || !ap.land_complete) {
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// reset timer
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auto_disarm_begin = tnow_ms;
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}
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}
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// disarm once timer expires
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if ((tnow_ms-auto_disarm_begin) >= disarm_delay_ms) {
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init_disarm_motors();
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auto_disarm_begin = tnow_ms;
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}
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}
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// init_arm_motors - performs arming process including initialisation of barometer and gyros
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// returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
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bool Copter::init_arm_motors(bool arming_from_gcs)
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{
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static bool in_arm_motors = false;
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// exit immediately if already in this function
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if (in_arm_motors) {
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return false;
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}
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in_arm_motors = true;
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// run pre-arm-checks and display failures
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if(!pre_arm_checks(true) || !arm_checks(true, arming_from_gcs)) {
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AP_Notify::events.arming_failed = true;
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in_arm_motors = false;
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return false;
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}
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// disable cpu failsafe because initialising everything takes a while
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failsafe_disable();
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// reset battery failsafe
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set_failsafe_battery(false);
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// notify that arming will occur (we do this early to give plenty of warning)
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AP_Notify::flags.armed = true;
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// call update_notify a few times to ensure the message gets out
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for (uint8_t i=0; i<=10; i++) {
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update_notify();
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}
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#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
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gcs_send_text(MAV_SEVERITY_INFO, "ARMING MOTORS");
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#endif
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// Remember Orientation
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// --------------------
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init_simple_bearing();
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initial_armed_bearing = ahrs.yaw_sensor;
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if (ap.home_state == HOME_UNSET) {
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// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
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ahrs.resetHeightDatum();
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Log_Write_Event(DATA_EKF_ALT_RESET);
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} else if (ap.home_state == HOME_SET_NOT_LOCKED) {
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// Reset home position if it has already been set before (but not locked)
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set_home_to_current_location();
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}
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calc_distance_and_bearing();
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// enable gps velocity based centrefugal force compensation
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ahrs.set_correct_centrifugal(true);
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hal.util->set_soft_armed(true);
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#if SPRAYER == ENABLED
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// turn off sprayer's test if on
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sprayer.test_pump(false);
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#endif
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// short delay to allow reading of rc inputs
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delay(30);
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// enable output to motors
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enable_motor_output();
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// finally actually arm the motors
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motors.armed(true);
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// log arming to dataflash
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Log_Write_Event(DATA_ARMED);
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// log flight mode in case it was changed while vehicle was disarmed
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DataFlash.Log_Write_Mode(control_mode);
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// reenable failsafe
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failsafe_enable();
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// perf monitor ignores delay due to arming
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perf_ignore_this_loop();
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// flag exiting this function
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in_arm_motors = false;
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// return success
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return true;
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}
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// perform pre-arm checks and set ap.pre_arm_check flag
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// return true if the checks pass successfully
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bool Copter::pre_arm_checks(bool display_failure)
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{
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// exit immediately if already armed
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if (motors.armed()) {
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return true;
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}
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// check if motor interlock and Emergency Stop aux switches are used
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// at the same time. This cannot be allowed.
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if (check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Interlock/E-Stop Conflict");
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}
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return false;
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}
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// check if motor interlock aux switch is in use
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// if it is, switch needs to be in disabled position to arm
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// otherwise exit immediately. This check to be repeated,
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// as state can change at any time.
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if (ap.using_interlock && motors.get_interlock()){
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Motor Interlock Enabled");
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}
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return false;
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}
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// exit immediately if we've already successfully performed the pre-arm check
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if (ap.pre_arm_check) {
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// run gps checks because results may change and affect LED colour
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// no need to display failures because arm_checks will do that if the pilot tries to arm
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pre_arm_gps_checks(false);
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return true;
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}
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// succeed if pre arm checks are disabled
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if(g.arming_check == ARMING_CHECK_NONE) {
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set_pre_arm_check(true);
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set_pre_arm_rc_check(true);
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return true;
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}
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// pre-arm rc checks a prerequisite
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pre_arm_rc_checks();
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if(!ap.pre_arm_rc_check) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: RC not calibrated");
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}
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return false;
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}
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// check Baro
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
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// barometer health check
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if(!barometer.all_healthy()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Barometer not healthy");
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}
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return false;
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}
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// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
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// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
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// that may differ from the baro height due to baro drift.
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nav_filter_status filt_status = inertial_nav.get_filter_status();
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bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
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if (using_baro_ref) {
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if (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Altitude disparity");
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}
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return false;
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}
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}
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}
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// check Compass
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) {
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// check the primary compass is healthy
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if(!compass.healthy()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not healthy");
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}
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return false;
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}
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// check compass learning is on or offsets have been set
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if(!compass.configured()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass not calibrated");
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}
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return false;
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}
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// check for unreasonable compass offsets
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Vector3f offsets = compass.get_offsets();
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if(offsets.length() > COMPASS_OFFSETS_MAX) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Compass offsets too high");
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}
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return false;
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}
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// check for unreasonable mag field length
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float mag_field = compass.get_field().length();
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if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check mag field");
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}
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return false;
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}
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// check all compasses point in roughly same direction
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if (!compass.consistent()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent compasses");
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}
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return false;
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}
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}
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// check GPS
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if (!pre_arm_gps_checks(display_failure)) {
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return false;
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}
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#if AC_FENCE == ENABLED
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// check fence is initialised
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if(!fence.pre_arm_check()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check fence");
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}
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return false;
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}
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#endif
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// check INS
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
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// check accelerometers have been calibrated
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if(!ins.accel_calibrated_ok_all()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Accels not calibrated");
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}
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return false;
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}
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// check accels are healthy
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if(!ins.get_accel_health_all()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Accelerometers not healthy");
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}
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return false;
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}
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// check all accelerometers point in roughly same direction
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if (ins.get_accel_count() > 1) {
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const Vector3f &prime_accel_vec = ins.get_accel();
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for(uint8_t i=0; i<ins.get_accel_count(); i++) {
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// get next accel vector
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const Vector3f &accel_vec = ins.get_accel(i);
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Vector3f vec_diff = accel_vec - prime_accel_vec;
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float threshold = PREARM_MAX_ACCEL_VECTOR_DIFF;
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if (i >= 2) {
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/*
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for boards with 3 IMUs we only use the first two
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in the EKF. Allow for larger accel discrepancy
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for IMU3 as it may be running at a different temperature
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*/
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threshold *= 2;
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}
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if (vec_diff.length() > threshold) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Accelerometers");
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}
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return false;
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}
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}
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}
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// check gyros are healthy
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if(!ins.get_gyro_health_all()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Gyros not healthy");
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}
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return false;
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}
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// check all gyros are consistent
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if (ins.get_gyro_count() > 1) {
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for(uint8_t i=0; i<ins.get_gyro_count(); i++) {
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// get rotation rate difference between gyro #i and primary gyro
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Vector3f vec_diff = ins.get_gyro(i) - ins.get_gyro();
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if (vec_diff.length() > PREARM_MAX_GYRO_VECTOR_DIFF) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: inconsistent Gyros");
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}
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return false;
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}
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}
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}
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// get ekf attitude (if bad, it's usually the gyro biases)
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if (!pre_arm_ekf_attitude_check()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: gyros still settling");
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}
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return false;
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}
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}
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#if CONFIG_HAL_BOARD != HAL_BOARD_VRBRAIN
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#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
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// check board voltage
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
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if(hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Board Voltage");
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}
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return false;
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}
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}
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#endif
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#endif
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// check battery voltage
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
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if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check Battery");
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}
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return false;
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}
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}
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// check various parameter values
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
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// ensure ch7 and ch8 have different functions
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if (check_duplicate_auxsw()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Duplicate Aux Switch Options");
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}
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return false;
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}
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// failsafe parameter checks
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if (g.failsafe_throttle) {
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// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
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if (channel_throttle->radio_min <= g.failsafe_throttle_value+10 || g.failsafe_throttle_value < 910) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check FS_THR_VALUE");
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}
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return false;
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}
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}
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// lean angle parameter check
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if (aparm.angle_max < 1000 || aparm.angle_max > 8000) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Check ANGLE_MAX");
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}
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return false;
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}
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// acro balance parameter check
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if ((g.acro_balance_roll > g.p_stabilize_roll.kP()) || (g.acro_balance_pitch > g.p_stabilize_pitch.kP())) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: ACRO_BAL_ROLL/PITCH");
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}
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return false;
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}
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#if CONFIG_SONAR == ENABLED && OPTFLOW == ENABLED
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// check range finder if optflow enabled
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if (optflow.enabled() && !sonar.pre_arm_check()) {
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if (display_failure) {
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gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: check range finder");
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}
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return false;
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}
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#endif
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
// check helicopter parameters
|
|
if (!motors.parameter_check(display_failure)) {
|
|
return false;
|
|
}
|
|
#endif // HELI_FRAME
|
|
}
|
|
|
|
// check throttle is above failsafe throttle
|
|
// this is near the bottom to allow other failures to be displayed before checking pilot throttle
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {
|
|
if (g.failsafe_throttle != FS_THR_DISABLED && channel_throttle->radio_in < g.failsafe_throttle_value) {
|
|
if (display_failure) {
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Collective below Failsafe");
|
|
#else
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Throttle below Failsafe");
|
|
#endif
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// if we've gotten this far then pre arm checks have completed
|
|
set_pre_arm_check(true);
|
|
return true;
|
|
}
|
|
|
|
// perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag
|
|
void Copter::pre_arm_rc_checks()
|
|
{
|
|
// exit immediately if we've already successfully performed the pre-arm rc check
|
|
if( ap.pre_arm_rc_check ) {
|
|
return;
|
|
}
|
|
|
|
// set rc-checks to success if RC checks are disabled
|
|
if ((g.arming_check != ARMING_CHECK_ALL) && !(g.arming_check & ARMING_CHECK_RC)) {
|
|
set_pre_arm_rc_check(true);
|
|
return;
|
|
}
|
|
|
|
// check if radio has been calibrated
|
|
if(!channel_throttle->radio_min.configured() && !channel_throttle->radio_max.configured()) {
|
|
return;
|
|
}
|
|
|
|
// check channels 1 & 2 have min <= 1300 and max >= 1700
|
|
if (channel_roll->radio_min > 1300 || channel_roll->radio_max < 1700 || channel_pitch->radio_min > 1300 || channel_pitch->radio_max < 1700) {
|
|
return;
|
|
}
|
|
|
|
// check channels 3 & 4 have min <= 1300 and max >= 1700
|
|
if (channel_throttle->radio_min > 1300 || channel_throttle->radio_max < 1700 || channel_yaw->radio_min > 1300 || channel_yaw->radio_max < 1700) {
|
|
return;
|
|
}
|
|
|
|
// check channels 1 & 2 have trim >= 1300 and <= 1700
|
|
if (channel_roll->radio_trim < 1300 || channel_roll->radio_trim > 1700 || channel_pitch->radio_trim < 1300 || channel_pitch->radio_trim > 1700) {
|
|
return;
|
|
}
|
|
|
|
// check channel 4 has trim >= 1300 and <= 1700
|
|
if (channel_yaw->radio_trim < 1300 || channel_yaw->radio_trim > 1700) {
|
|
return;
|
|
}
|
|
|
|
// if we've gotten this far rc is ok
|
|
set_pre_arm_rc_check(true);
|
|
}
|
|
|
|
// performs pre_arm gps related checks and returns true if passed
|
|
bool Copter::pre_arm_gps_checks(bool display_failure)
|
|
{
|
|
// always check if inertial nav has started and is ready
|
|
if(!ahrs.healthy()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Waiting for Nav Checks");
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// check if flight mode requires GPS
|
|
bool gps_required = mode_requires_GPS(control_mode);
|
|
|
|
#if AC_FENCE == ENABLED
|
|
// if circular fence is enabled we need GPS
|
|
if ((fence.get_enabled_fences() & AC_FENCE_TYPE_CIRCLE) != 0) {
|
|
gps_required = true;
|
|
}
|
|
#endif
|
|
|
|
// return true if GPS is not required
|
|
if (!gps_required) {
|
|
AP_Notify::flags.pre_arm_gps_check = true;
|
|
return true;
|
|
}
|
|
|
|
// ensure GPS is ok
|
|
if (!position_ok()) {
|
|
if (display_failure) {
|
|
const char *reason = ahrs.prearm_failure_reason();
|
|
if (reason) {
|
|
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "PreArm: %s", reason);
|
|
} else {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: Need 3D Fix");
|
|
}
|
|
}
|
|
AP_Notify::flags.pre_arm_gps_check = false;
|
|
return false;
|
|
}
|
|
|
|
// check EKF compass variance is below failsafe threshold
|
|
float vel_variance, pos_variance, hgt_variance, tas_variance;
|
|
Vector3f mag_variance;
|
|
Vector2f offset;
|
|
ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
|
|
if (mag_variance.length() >= g.fs_ekf_thresh) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF compass variance");
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// check home and EKF origin are not too far
|
|
if (far_from_EKF_origin(ahrs.get_home())) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: EKF-home variance");
|
|
}
|
|
AP_Notify::flags.pre_arm_gps_check = false;
|
|
return false;
|
|
}
|
|
|
|
// return true immediately if gps check is disabled
|
|
if (!(g.arming_check == ARMING_CHECK_ALL || g.arming_check & ARMING_CHECK_GPS)) {
|
|
AP_Notify::flags.pre_arm_gps_check = true;
|
|
return true;
|
|
}
|
|
|
|
// warn about hdop separately - to prevent user confusion with no gps lock
|
|
if (gps.get_hdop() > g.gps_hdop_good) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"PreArm: High GPS HDOP");
|
|
}
|
|
AP_Notify::flags.pre_arm_gps_check = false;
|
|
return false;
|
|
}
|
|
|
|
// if we got here all must be ok
|
|
AP_Notify::flags.pre_arm_gps_check = true;
|
|
return true;
|
|
}
|
|
|
|
// check ekf attitude is acceptable
|
|
bool Copter::pre_arm_ekf_attitude_check()
|
|
{
|
|
// get ekf filter status
|
|
nav_filter_status filt_status = inertial_nav.get_filter_status();
|
|
|
|
return filt_status.flags.attitude;
|
|
}
|
|
|
|
// arm_checks - perform final checks before arming
|
|
// always called just before arming. Return true if ok to arm
|
|
// has side-effect that logging is started
|
|
bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
|
|
{
|
|
#if LOGGING_ENABLED == ENABLED
|
|
// start dataflash
|
|
start_logging();
|
|
#endif
|
|
|
|
// check accels and gyro are healthy
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
|
|
if(!ins.get_accel_health_all()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Accelerometers not healthy");
|
|
}
|
|
return false;
|
|
}
|
|
if(!ins.get_gyro_health_all()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Gyros not healthy");
|
|
}
|
|
return false;
|
|
}
|
|
// get ekf attitude (if bad, it's usually the gyro biases)
|
|
if (!pre_arm_ekf_attitude_check()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: gyros still settling");
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// always check if inertial nav has started and is ready
|
|
if(!ahrs.healthy()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Waiting for Nav Checks");
|
|
}
|
|
return false;
|
|
}
|
|
|
|
if(compass.is_calibrating()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Compass calibration running");
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// always check if the current mode allows arming
|
|
if (!mode_allows_arming(control_mode, arming_from_gcs)) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Mode not armable");
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// always check gps
|
|
if (!pre_arm_gps_checks(display_failure)) {
|
|
return false;
|
|
}
|
|
|
|
// if we are using motor interlock switch and it's enabled, fail to arm
|
|
if (ap.using_interlock && motors.get_interlock()){
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Interlock Enabled");
|
|
return false;
|
|
}
|
|
|
|
// if we are not using Emergency Stop switch option, force Estop false to ensure motors
|
|
// can run normally
|
|
if (!check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
|
|
set_motor_emergency_stop(false);
|
|
// if we are using motor Estop switch, it must not be in Estop position
|
|
} else if (check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && ap.motor_emergency_stop){
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped");
|
|
return false;
|
|
}
|
|
|
|
// succeed if arming checks are disabled
|
|
if (g.arming_check == ARMING_CHECK_NONE) {
|
|
return true;
|
|
}
|
|
|
|
// baro checks
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
|
|
// baro health check
|
|
if (!barometer.all_healthy()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Barometer not healthy");
|
|
}
|
|
return false;
|
|
}
|
|
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
|
|
// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
|
|
// that may differ from the baro height due to baro drift.
|
|
nav_filter_status filt_status = inertial_nav.get_filter_status();
|
|
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
|
|
if (using_baro_ref && (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM)) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Altitude disparity");
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
#if AC_FENCE == ENABLED
|
|
// check vehicle is within fence
|
|
if(!fence.pre_arm_check()) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: check fence");
|
|
}
|
|
return false;
|
|
}
|
|
#endif
|
|
|
|
// check lean angle
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
|
|
if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > aparm.angle_max) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Leaning");
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// check battery voltage
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
|
|
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Check Battery");
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// check throttle
|
|
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {
|
|
// check throttle is not too low - must be above failsafe throttle
|
|
if (g.failsafe_throttle != FS_THR_DISABLED && channel_throttle->radio_in < g.failsafe_throttle_value) {
|
|
if (display_failure) {
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective below Failsafe");
|
|
#else
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle below Failsafe");
|
|
#endif
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// check throttle is not too high - skips checks if arming from GCS in Guided
|
|
if (!(arming_from_gcs && control_mode == GUIDED)) {
|
|
// above top of deadband is too always high
|
|
if (channel_throttle->control_in > get_takeoff_trigger_throttle()) {
|
|
if (display_failure) {
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");
|
|
#else
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high");
|
|
#endif
|
|
}
|
|
return false;
|
|
}
|
|
// in manual modes throttle must be at zero
|
|
if ((mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && channel_throttle->control_in > 0) {
|
|
if (display_failure) {
|
|
#if FRAME_CONFIG == HELI_FRAME
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");
|
|
#else
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Throttle too high");
|
|
#endif
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
|
|
// check if safety switch has been pushed
|
|
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
|
|
if (display_failure) {
|
|
gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Safety Switch");
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// if we've gotten this far all is ok
|
|
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
|
|
Vector3f magOffsets;
|
|
if (ahrs.use_compass() && ahrs.getMagOffsets(magOffsets)) {
|
|
compass.set_and_save_offsets(compass.get_primary(), magOffsets);
|
|
}
|
|
|
|
#if AUTOTUNE_ENABLED == ENABLED
|
|
// save auto tuned parameters
|
|
autotune_save_tuning_gains();
|
|
#endif
|
|
|
|
// we are not in the air
|
|
set_land_complete(true);
|
|
set_land_complete_maybe(true);
|
|
|
|
// log disarm to the dataflash
|
|
Log_Write_Event(DATA_DISARMED);
|
|
|
|
// send disarm command to motors
|
|
motors.armed(false);
|
|
|
|
// reset the mission
|
|
mission.reset();
|
|
|
|
// suspend logging
|
|
if (!(g.log_bitmask & MASK_LOG_WHEN_DISARMED)) {
|
|
DataFlash.EnableWrites(false);
|
|
}
|
|
|
|
// disable gps velocity based centrefugal force compensation
|
|
ahrs.set_correct_centrifugal(false);
|
|
hal.util->set_soft_armed(false);
|
|
}
|
|
|
|
// motors_output - send output to motors library which will adjust and send to ESCs and servos
|
|
void Copter::motors_output()
|
|
{
|
|
// check if we are performing the motor test
|
|
if (ap.motor_test) {
|
|
motor_test_output();
|
|
} else {
|
|
if (!ap.using_interlock){
|
|
// if not using interlock switch, set according to Emergency Stop status
|
|
// where Emergency Stop is forced false during arming if Emergency Stop switch
|
|
// is not used. Interlock enabled means motors run, so we must
|
|
// invert motor_emergency_stop status for motors to run.
|
|
motors.set_interlock(!ap.motor_emergency_stop);
|
|
}
|
|
motors.output();
|
|
}
|
|
}
|
|
|
|
// 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 (check_if_auxsw_mode_used(AUXSW_LOST_COPTER_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->control_in > 4000) && (channel_pitch->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;
|
|
}
|
|
}
|
|
}
|