mirror of https://github.com/ArduPilot/ardupilot
576 lines
18 KiB
Plaintext
576 lines
18 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 15 // called at 1hz so 15 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 DRIFT
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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 || control_mode == HYBRID || control_mode == AUTOTUNE)) {
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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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// heli specific arming check
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if (!motors.allow_arming()){
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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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int16_t tmp = g.rc_4.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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// 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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AP_Notify::flags.arming_failed = true;
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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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AP_Notify::flags.arming_failed = false;
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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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// 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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// exit immediately if we are already disarmed or throttle is not zero
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if (!motors.armed() || g.rc_3.control_in > 0) {
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auto_disarming_counter = 0;
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return;
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}
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// allow auto disarm in manual flight modes or Loiter/AltHold if we're landed
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if(manual_flight_mode(control_mode) || (ap.land_complete && (control_mode == LOITER || control_mode == ALT_HOLD || control_mode == HYBRID || control_mode == AUTOTUNE))) {
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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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auto_disarming_counter = 0;
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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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// disable inertial nav errors temporarily
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inertial_nav.ignore_next_error();
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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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hal.uartC->set_blocking_writes(false);
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if (hal.uartD != NULL) {
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hal.uartD->set_blocking_writes(false);
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}
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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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calc_distance_and_bearing();
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}
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if(did_ground_start == false) {
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did_ground_start = true;
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startup_ground(true);
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}
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// fast baro calibration to reset ground pressure
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init_barometer(false);
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// reset inertial nav alt to zero
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inertial_nav.set_altitude(0.0f);
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// go back to normal AHRS gains
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ahrs.set_fast_gains(false);
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// enable gps velocity based centrefugal force compensation
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ahrs.set_correct_centrifugal(true);
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ahrs.set_armed(true);
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// set hover throttle
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motors.set_mid_throttle(g.throttle_mid);
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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 == 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;
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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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// 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.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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// check Baro & inav alt are within 1m
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if(fabs(inertial_nav.get_altitude() - baro_alt) > 100) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Alt disparity"));
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}
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return;
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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(0)) {
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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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if(!compass._learn && !compass.configured()) {
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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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Vector3f offsets = compass.get_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 = compass.get_field().length();
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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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}
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// check GPS
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_GPS)) {
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// check gps is ok if required - note this same check is repeated again in arm_checks
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if ((mode_requires_GPS(control_mode) || g.failsafe_gps_enabled == FS_GPS_LAND_EVEN_STABILIZE) && !pre_arm_gps_checks(display_failure)) {
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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) && !pre_arm_gps_checks(display_failure))) {
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return;
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}
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#endif
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}
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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.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 accels and gyros are healthy
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if(!ins.healthy()) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: INS not healthy"));
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}
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return;
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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_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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}
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#endif
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#endif
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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 ((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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// 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 (aparm.angle_max < 1000 || aparm.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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// 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_P(SEVERITY_HIGH,PSTR("PreArm: ACRO_BAL_ROLL/PITCH"));
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}
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return;
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}
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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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// set rc-checks to success if RC checks are disabled
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if ((g.arming_check != ARMING_CHECK_ALL) && !(g.arming_check & ARMING_CHECK_RC)) {
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set_pre_arm_rc_check(true);
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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() && !g.rc_3.radio_max.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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set_pre_arm_rc_check(true);
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}
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// performs pre_arm gps related checks and returns true if passed
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static bool pre_arm_gps_checks(bool display_failure)
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{
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float speed_cms = inertial_nav.get_velocity().length(); // speed according to inertial nav in cm/s
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// check GPS is not glitching
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if (gps_glitch.glitching()) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: GPS Glitch"));
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}
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return false;
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}
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// ensure GPS is ok
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if (!GPS_ok()) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Need 3D Fix"));
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}
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return false;
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}
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// check speed is below 50cm/s
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if (speed_cms == 0 || speed_cms > PREARM_MAX_VELOCITY_CMS) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Bad Velocity"));
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}
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return false;
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}
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// warn about hdop separately - to prevent user confusion with no gps lock
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if (gps.get_hdop() > g.gps_hdop_good) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: High GPS HDOP"));
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}
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return false;
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}
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// if we got here all must be ok
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return 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 == ARMING_CHECK_NONE) {
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return true;
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}
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// check Baro & inav alt are within 1m
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
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if(fabs(inertial_nav.get_altitude() - baro_alt) > 100) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Alt disparity"));
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}
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return false;
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}
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}
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// check gps is ok if required - note this same check is also done in pre-arm checks
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_GPS)) {
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if ((mode_requires_GPS(control_mode) || g.failsafe_gps_enabled == FS_GPS_LAND_EVEN_STABILIZE) && !pre_arm_gps_checks(display_failure)) {
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return false;
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}
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}
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// check parameters
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
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// check throttle is above failsafe throttle
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if (g.failsafe_throttle != FS_THR_DISABLED && g.rc_3.radio_in < g.failsafe_throttle_value) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Thr below FS"));
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}
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return false;
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}
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}
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// check lean angle
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if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
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if (labs(ahrs.roll_sensor) > aparm.angle_max || labs(ahrs.pitch_sensor) > aparm.angle_max) {
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if (display_failure) {
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gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Leaning"));
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}
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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_P(SEVERITY_HIGH,PSTR("Arm: Safety Switch"));
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// if we've gotten this far all is ok
|
|
return true;
|
|
}
|
|
|
|
// init_disarm_motors - disarm motors
|
|
static void 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_AVR_SITL
|
|
gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
|
|
#endif
|
|
|
|
motors.armed(false);
|
|
|
|
// disable inertial nav errors temporarily
|
|
inertial_nav.ignore_next_error();
|
|
|
|
compass.save_offsets();
|
|
|
|
g.throttle_cruise.save();
|
|
|
|
#if AUTOTUNE_ENABLED == ENABLED
|
|
// save auto tuned parameters
|
|
autotune_save_tuning_gains();
|
|
#endif
|
|
|
|
// we are not in the air
|
|
set_land_complete(true);
|
|
|
|
// reset the mission
|
|
mission.reset();
|
|
|
|
// setup fast AHRS gains to get right attitude
|
|
ahrs.set_fast_gains(true);
|
|
|
|
// log disarm to the dataflash
|
|
Log_Write_Event(DATA_DISARMED);
|
|
|
|
// suspend logging
|
|
DataFlash.EnableWrites(false);
|
|
|
|
// disable gps velocity based centrefugal force compensation
|
|
ahrs.set_correct_centrifugal(false);
|
|
ahrs.set_armed(false);
|
|
}
|
|
|
|
/*****************************************
|
|
* Set the flight control servos based on the current calculated values
|
|
*****************************************/
|
|
static void
|
|
set_servos_4()
|
|
{
|
|
// check if we are performing the motor test
|
|
if (ap.motor_test) {
|
|
motor_test_output();
|
|
} else {
|
|
#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();
|
|
}
|
|
}
|