ardupilot/ArduCopter/motors.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// 10 = 1 second
#define ARM_DELAY 20
#define DISARM_DELAY 20
#define AUTO_TRIM_DELAY 100
// called at 10hz
static void arm_motors()
{
static int16_t arming_counter;
// don't allow arming/disarming in anything but manual
if (g.rc_3.control_in > 0) {
arming_counter = 0;
return;
}
if ((control_mode > ACRO) && ((control_mode != TOY_A) && (control_mode != TOY_M))) {
arming_counter = 0;
return;
}
#if FRAME_CONFIG == HELI_FRAME
if ((motors.rsc_mode > 0) && (g.rc_8.control_in >= 10)){
arming_counter = 0;
return;
}
#endif // HELI_FRAME
#if TOY_EDF == ENABLED
int16_t tmp = g.rc_1.control_in;
#else
int16_t tmp = g.rc_4.control_in;
#endif
// full right
if (tmp > 4000) {
// increase the arming counter to a maximum of 1 beyond the auto trim counter
if( arming_counter <= AUTO_TRIM_DELAY ) {
arming_counter++;
}
// arm the motors and configure for flight
if (arming_counter == ARM_DELAY && !motors.armed()) {
////////////////////////////////////////////////////////////////////////////////
// Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
////////////////////////////////////////////////////////////////////////////////
#if AP_LIMITS == ENABLED
if (limits.enabled() && limits.required()) {
gcs_send_text_P(SEVERITY_LOW, PSTR("Limits - Running pre-arm checks"));
// check only pre-arm required modules
if (limits.check_required()) {
gcs_send_text_P(SEVERITY_LOW, PSTR("ARMING PREVENTED - Limit Breached"));
limits.set_state(LIMITS_TRIGGERED);
gcs_send_message(MSG_LIMITS_STATUS);
arming_counter++; // restart timer by cycling
}else{
init_arm_motors();
}
}else{
init_arm_motors();
}
#else // without AP_LIMITS, just arm motors
init_arm_motors();
#endif //AP_LIMITS_ENABLED
}
// arm the motors and configure for flight
if (arming_counter == AUTO_TRIM_DELAY && motors.armed()) {
auto_trim_counter = 250;
}
// full left
}else if (tmp < -4000) {
// increase the counter to a maximum of 1 beyond the disarm delay
if( arming_counter <= DISARM_DELAY ) {
arming_counter++;
}
// disarm the motors
if (arming_counter == DISARM_DELAY && motors.armed()) {
init_disarm_motors();
}
// Yaw is centered so reset arming counter
}else{
arming_counter = 0;
}
}
static void init_arm_motors()
{
// arming marker
// Flag used to track if we have armed the motors the first time.
// This is used to decide if we should run the ground_start routine
// which calibrates the IMU
static bool did_ground_start = false;
// disable failsafe because initialising everything takes a while
failsafe_disable();
//cliSerial->printf("\nARM\n");
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
#endif
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we arm
// the motors
hal.uartA->set_blocking_writes(false);
if (gcs3.initialised) {
hal.uartC->set_blocking_writes(false);
}
#if COPTER_LEDS == ENABLED
if ( bitRead(g.copter_leds_mode, 3) ) {
piezo_beep();
delay(50);
piezo_beep();
}
#endif
// Remember Orientation
// --------------------
init_simple_bearing();
// Reset home position
// -------------------
if(ap.home_is_set)
init_home();
// all I terms are invalid
// -----------------------
reset_I_all();
if(did_ground_start == false) {
did_ground_start = true;
startup_ground();
}
#if HIL_MODE != HIL_MODE_ATTITUDE
// read Baro pressure at ground -
// this resets Baro for more accuracy
//-----------------------------------
init_barometer();
#endif
// temp hack
ap_system.motor_light = true;
digitalWrite(A_LED_PIN, LED_ON);
// go back to normal AHRS gains
ahrs.set_fast_gains(false);
#if SECONDARY_DMP_ENABLED == ENABLED
ahrs2.set_fast_gains(false);
#endif
// finally actually arm the motors
motors.armed(true);
set_armed(true);
// reenable failsafe
failsafe_enable();
}
static void init_disarm_motors()
{
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
#endif
motors.armed(false);
set_armed(false);
motors.auto_armed(false);
set_auto_armed(false);
compass.save_offsets();
g.throttle_cruise.save();
#if INERTIAL_NAV_XY == ENABLED || INERTIAL_NAV_Z == ENABLED
inertial_nav.save_params();
#endif
// we are not in the air
set_takeoff_complete(false);
#if COPTER_LEDS == ENABLED
if ( bitRead(g.copter_leds_mode, 3) ) {
piezo_beep();
}
#endif
// setup fast AHRS gains to get right attitude
ahrs.set_fast_gains(true);
#if SECONDARY_DMP_ENABLED == ENABLED
ahrs2.set_fast_gains(true);
#endif
}
/*****************************************
* Set the flight control servos based on the current calculated values
*****************************************/
static void
set_servos_4()
{
#if FRAME_CONFIG == TRI_FRAME
// To-Do: implement improved stability patch for tri so that we do not need to limit throttle input to motors
g.rc_3.servo_out = min(g.rc_3.servo_out, 800);
#endif
motors.output();
}