mirror of https://github.com/ArduPilot/ardupilot
437 lines
12 KiB
Plaintext
437 lines
12 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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 AUTO_DISARMING_DELAY 25 // called at 1hz so 25 seconds
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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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static void arm_motors_check()
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{
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static int16_t arming_counter;
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bool allow_arming = false;
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// ensure throttle is down
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if (g.rc_3.control_in > 0) {
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arming_counter = 0;
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return;
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}
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// allow arming/disarming in fully manual flight modes ACRO, STABILIZE, SPORT and TOY
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if (manual_flight_mode(control_mode)) {
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allow_arming = true;
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}
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// allow arming/disarming in Loiter and AltHold if landed
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if (ap.land_complete && (control_mode == LOITER || control_mode == ALT_HOLD)) {
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allow_arming = true;
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}
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// kick out other flight modes
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if (!allow_arming) {
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arming_counter = 0;
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return;
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}
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#if FRAME_CONFIG == HELI_FRAME
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if ((motors.rsc_mode > 0) && (g.rc_8.control_in >= 10)){
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arming_counter = 0;
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return;
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}
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#endif // HELI_FRAME
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#if TOY_EDF == ENABLED
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int16_t tmp = g.rc_1.control_in;
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#else
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int16_t tmp = g.rc_4.control_in;
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#endif
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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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// run pre-arm-checks and display failures
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pre_arm_checks(true);
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if(ap.pre_arm_check && arm_checks(true)) {
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init_arm_motors();
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}else{
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// reset arming counter if pre-arm checks fail
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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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}
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// full left
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}else if (tmp < -4000) {
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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 25 seconds
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// called at 1hz
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static void auto_disarm_check()
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{
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static uint8_t auto_disarming_counter;
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if(manual_flight_mode(control_mode) && (g.rc_3.control_in == 0) && motors.armed()) {
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auto_disarming_counter++;
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if(auto_disarming_counter == AUTO_DISARMING_DELAY) {
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init_disarm_motors();
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}else if (auto_disarming_counter > AUTO_DISARMING_DELAY) {
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auto_disarming_counter = AUTO_DISARMING_DELAY + 1;
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}
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}else{
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auto_disarming_counter = 0;
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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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static void init_arm_motors()
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{
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// arming marker
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// Flag used to track if we have armed the motors the first time.
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// This is used to decide if we should run the ground_start routine
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// which calibrates the IMU
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static bool did_ground_start = false;
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// disable cpu failsafe because initialising everything takes a while
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failsafe_disable();
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#if LOGGING_ENABLED == ENABLED
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// start dataflash
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start_logging();
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#endif
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#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
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#endif
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// we don't want writes to the serial port to cause us to pause
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// mid-flight, so set the serial ports non-blocking once we arm
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// the motors
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hal.uartA->set_blocking_writes(false);
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if (gcs3.initialised) {
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hal.uartC->set_blocking_writes(false);
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}
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#if COPTER_LEDS == ENABLED
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piezo_beep_twice();
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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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// Reset home position
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// -------------------
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if(ap.home_is_set)
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init_home();
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// all I terms are invalid
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// -----------------------
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reset_I_all();
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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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// go back to normal AHRS gains
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ahrs.set_fast_gains(false);
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#if SECONDARY_DMP_ENABLED == ENABLED
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ahrs2.set_fast_gains(false);
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#endif
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// enable gps velocity based centrefugal force compensation
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ahrs.set_correct_centrifugal(true);
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// set hover throttle
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motors.set_mid_throttle(g.throttle_mid);
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#if COPTER_LEDS == ENABLED
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piezo_beep_twice();
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#endif
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// Cancel arming if throttle is raised too high so that copter does not suddenly take off
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read_radio();
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if (g.rc_3.control_in > g.throttle_cruise && g.throttle_cruise > 100) {
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motors.output_min();
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failsafe_enable();
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return;
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}
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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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// enable output to motors
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output_min();
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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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// reenable failsafe
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failsafe_enable();
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}
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// perform pre-arm checks and set ap.pre_arm_check flag
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static void pre_arm_checks(bool display_failure)
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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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return;
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}
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// succeed if pre arm checks are disabled
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if(!g.arming_check_enabled) {
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set_pre_arm_check(true);
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return;
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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_P(SEVERITY_HIGH,PSTR("PreArm: RC not calibrated"));
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}
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return;
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}
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// pre-arm check to ensure ch7 and ch8 have different functions
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if ((g.ch7_option != 0 || g.ch8_option != 0) && g.ch7_option == g.ch8_option) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Ch7&Ch8 Opt cannot be same"));
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}
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return;
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}
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// check accelerometers have been calibrated
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if(!ins.calibrated()) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: INS not calibrated"));
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}
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return;
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}
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// check the compass is healthy
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if(!compass.healthy) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy"));
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}
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return;
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}
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// check compass learning is on or offsets have been set
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Vector3f offsets = compass.get_offsets();
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if(!compass._learn && offsets.length() == 0) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not calibrated"));
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}
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return;
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}
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// check for unreasonable compass offsets
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if(offsets.length() > 500) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass offsets too high"));
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}
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return;
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}
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// check for unreasonable mag field length
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float mag_field = pythagorous3(compass.mag_x, compass.mag_y, compass.mag_z);
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if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65 || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check mag field"));
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}
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return;
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}
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// barometer health check
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if(!barometer.healthy) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Baro not healthy"));
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}
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return;
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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() || (((fence.get_enabled_fences() & AC_FENCE_TYPE_CIRCLE) != 0) && g_gps->hdop > g.gps_hdop_good)) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Bad GPS Pos"));
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}
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return;
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}
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#endif
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#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
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// check board voltage
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if(board_voltage() < BOARD_VOLTAGE_MIN || board_voltage() > BOARD_VOLTAGE_MAX) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check Board Voltage"));
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}
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return;
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}
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#endif
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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 (g.rc_3.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_P(SEVERITY_HIGH,PSTR("PreArm: Check FS_THR_VALUE"));
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}
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return;
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}
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}
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// lean angle parameter check
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if (g.angle_max < 1000 || g.angle_max > 8000) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check ANGLE_MAX"));
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}
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return;
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}
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// pass arming checks at least once
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if (!arm_checks(display_failure)) {
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return;
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}
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// if we've gotten this far then pre arm checks have completed
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set_pre_arm_check(true);
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}
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// perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag
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static void pre_arm_rc_checks()
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{
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// exit immediately if we've already successfully performed the pre-arm rc check
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if( ap.pre_arm_rc_check ) {
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return;
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}
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// check if radio has been calibrated
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if(!g.rc_3.radio_min.load()) {
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return;
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}
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// check channels 1 & 2 have min <= 1300 and max >= 1700
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if (g.rc_1.radio_min > 1300 || g.rc_1.radio_max < 1700 || g.rc_2.radio_min > 1300 || g.rc_2.radio_max < 1700) {
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return;
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}
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// check channels 3 & 4 have min <= 1300 and max >= 1700
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if (g.rc_3.radio_min > 1300 || g.rc_3.radio_max < 1700 || g.rc_4.radio_min > 1300 || g.rc_4.radio_max < 1700) {
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return;
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}
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// if we've gotten this far rc is ok
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ap.pre_arm_rc_check = true;
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}
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// arm_checks - perform final checks before arming
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// always called just before arming. Return true if ok to arm
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static bool arm_checks(bool display_failure)
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{
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// succeed if arming checks are disabled
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if(!g.arming_check_enabled) {
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return true;
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}
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// check gps is ok if required
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if(mode_requires_GPS(control_mode) && (!GPS_ok() || g_gps->hdop > g.gps_hdop_good)) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Bad GPS Pos"));
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}
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return false;
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}
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// if we've gotten this far all is ok
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return true;
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}
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static void init_disarm_motors()
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{
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#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
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#endif
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motors.armed(false);
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compass.save_offsets();
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g.throttle_cruise.save();
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// we are not in the air
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set_takeoff_complete(false);
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#if COPTER_LEDS == ENABLED
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piezo_beep();
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#endif
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// setup fast AHRS gains to get right attitude
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ahrs.set_fast_gains(true);
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#if SECONDARY_DMP_ENABLED == ENABLED
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ahrs2.set_fast_gains(true);
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#endif
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// log disarm to the dataflash
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Log_Write_Event(DATA_DISARMED);
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// disable gps velocity based centrefugal force compensation
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ahrs.set_correct_centrifugal(false);
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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 FRAME_CONFIG == TRI_FRAME
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// To-Do: implement improved stability patch for tri so that we do not need to limit throttle input to motors
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g.rc_3.servo_out = min(g.rc_3.servo_out, 800);
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#endif
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motors.output();
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}
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