mirror of https://github.com/ArduPilot/ardupilot
154 lines
3.4 KiB
Plaintext
154 lines
3.4 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define ARM_DELAY 10 // one second
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#define DISARM_DELAY 10 // one second
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#define LEVEL_DELAY 70 // twelve seconds
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#define AUTO_LEVEL_DELAY 90 // twentyfive seconds
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// called at 10hz
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static void arm_motors()
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{
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static int arming_counter;
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// Arm motor output : Throttle down and full yaw right for more than 2 seconds
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if (g.rc_3.control_in == 0){
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// full right
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if (g.rc_4.control_in > 4000) {
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// don't allow arming in anything but manual
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if (control_mode < ALT_HOLD){
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if (arming_counter > AUTO_LEVEL_DELAY){
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auto_level_counter = 155;
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arming_counter = 0;
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}else if (arming_counter == ARM_DELAY){
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#if HIL_MODE != HIL_MODE_DISABLED
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gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
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#endif
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motor_armed = true;
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arming_counter = ARM_DELAY;
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#if PIEZO_ARMING == 1
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piezo_beep();
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piezo_beep();
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#endif
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// Tune down DCM
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// -------------------
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#if HIL_MODE != HIL_MODE_ATTITUDE
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dcm.kp_roll_pitch(0.030000);
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dcm.ki_roll_pitch(0.00001278), // 50 hz I term
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//dcm.ki_roll_pitch(0.000006);
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#endif
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// tune down compass
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// -----------------
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dcm.kp_yaw(0.08);
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dcm.ki_yaw(0);
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// Remember Orientation
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// --------------------
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init_simple_bearing();
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// init the Z damopener
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// --------------------
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#if ACCEL_ALT_HOLD == 1
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init_z_damper();
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#endif
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// Reset home position
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// ----------------------
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if(home_is_set)
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init_home();
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if(did_ground_start == false){
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did_ground_start = true;
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startup_ground();
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}
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#if HIL_MODE != HIL_MODE_ATTITUDE
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// read Baro pressure at ground -
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// this resets Baro for more accuracy
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//-----------------------------------
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init_barometer();
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#endif
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// temp hack
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motor_light = true;
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digitalWrite(A_LED_PIN, HIGH);
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arming_counter++;
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} else{
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arming_counter++;
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}
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}
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// full left
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}else if (g.rc_4.control_in < -4000) {
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//Serial.print(arming_counter, DEC);
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if (arming_counter > LEVEL_DELAY){
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//Serial.print("init");
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imu.init_accel(mavlink_delay);
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arming_counter = 0;
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}else if (arming_counter == DISARM_DELAY){
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#if HIL_MODE != HIL_MODE_DISABLED
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gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
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#endif
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motor_armed = false;
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arming_counter = DISARM_DELAY;
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compass.save_offsets();
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#if PIEZO_ARMING == 1
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piezo_beep();
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#endif
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// Tune down DCM
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// -------------------
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#if HIL_MODE != HIL_MODE_ATTITUDE
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//dcm.kp_roll_pitch(0.12); // higher for fast recovery
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//dcm.ki_roll_pitch(0.00000319); // 1/4 of the normal rate for 200 hz loop
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#endif
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// tune up compass
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// -----------------
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dcm.kp_yaw(0.8);
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dcm.ki_yaw(0.00004);
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// Clear throttle slew
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// -------------------
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//throttle_slew = 0;
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arming_counter++;
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}else{
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arming_counter++;
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}
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// centered
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}else{
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arming_counter = 0;
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}
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}else{
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arming_counter = 0;
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}
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}
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/*****************************************
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* Set the flight control servos based on the current calculated values
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*****************************************/
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static void
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set_servos_4()
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{
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if (motor_armed == true && motor_auto_armed == true) {
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// creates the radio_out and pwm_out values
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output_motors_armed();
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} else{
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output_motors_disarmed();
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}
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}
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