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 LEVEL_DELAY 100
// called at 10hz
static void arm_motors()
{
static int arming_counter;
// don't allow arming/disarming in anything but manual
if ((g.rc_3.control_in > 0) || (control_mode >= ALT_HOLD) || (arming_counter > LEVEL_DELAY)){
arming_counter = 0;
return;
}
// full right
if (g.rc_4.control_in > 4000) {
if (arming_counter == LEVEL_DELAY){
//Serial.printf("\nAL\n");
// begin auto leveling
auto_level_counter = 250;
arming_counter = 0;
}else if (arming_counter == ARM_DELAY){
if(motor_armed == false){
// arm the motors and configure for flight
init_arm_motors();
}
// keep going up
arming_counter++;
} else{
arming_counter++;
}
// full left
}else if (g.rc_4.control_in < -4000) {
if (arming_counter == LEVEL_DELAY){
//Serial.printf("\nLEV\n");
// begin manual leveling
imu.init_accel(mavlink_delay, flash_leds);
arming_counter = 0;
}else if (arming_counter == DISARM_DELAY){
if(motor_armed == true){
// arm the motors and configure for flight
init_disarm_motors();
}
// keep going up
arming_counter++;
}else{
arming_counter++;
}
// Yaw is centered
}else{
arming_counter = 0;
}
}
static void init_arm_motors()
{
// 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;
//Serial.printf("\nARM\n");
#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
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
Serial.set_blocking_writes(false);
if (gcs3.initialised) {
Serial3.set_blocking_writes(false);
}
motor_armed = true;
#if PIEZO_ARMING == 1
piezo_beep();
piezo_beep();
#endif
// Remember Orientation
// --------------------
init_simple_bearing();
init_z_damper();
// Reset home position
// -------------------
if(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
motor_light = true;
digitalWrite(A_LED_PIN, LED_ON);
}
static void init_disarm_motors()
{
//Serial.printf("\nDISARM\n");
#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
#endif
motor_armed = false;
compass.save_offsets();
g.throttle_cruise.save();
// we are not in the air
takeoff_complete = false;
#if PIEZO_ARMING == 1
piezo_beep();
#endif
}
/*****************************************
* Set the flight control servos based on the current calculated values
*****************************************/
static void
set_servos_4()
{
if (motor_armed == true && motor_auto_armed == true) {
// creates the radio_out and pwm_out values
output_motors_armed();
} else{
output_motors_disarmed();
}
}
int ch_of_mot( int mot ) {
switch (mot) {
case 1: return MOT_1;
case 2: return MOT_2;
case 3: return MOT_3;
case 4: return MOT_4;
case 5: return MOT_5;
case 6: return MOT_6;
case 7: return MOT_7;
case 8: return MOT_8;
}
return (-1);
}