mirror of https://github.com/ArduPilot/ardupilot
166 lines
3.3 KiB
Plaintext
166 lines
3.3 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// 10 = 1 second
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#define ARM_DELAY 20
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#define DISARM_DELAY 20
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#define LEVEL_DELAY 100
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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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// don't allow arming/disarming in anything but manual
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if ((g.rc_3.control_in > 0) || (control_mode >= ALT_HOLD) || (arming_counter > LEVEL_DELAY)){
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arming_counter = 0;
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return;
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}
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// full right
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if (g.rc_4.control_in > 4000) {
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if (arming_counter == LEVEL_DELAY){
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//Serial.printf("\nAL\n");
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// begin auto leveling
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auto_level_counter = 250;
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arming_counter = 0;
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}else if (arming_counter == ARM_DELAY){
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if(motor_armed == false){
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// arm the motors and configure for flight
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init_arm_motors();
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}
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// keep going up
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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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// full left
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}else if (g.rc_4.control_in < -4000) {
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if (arming_counter == LEVEL_DELAY){
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//Serial.printf("\nLEV\n");
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// begin manual leveling
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imu.init_accel(mavlink_delay, flash_leds);
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arming_counter = 0;
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}else if (arming_counter == DISARM_DELAY){
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if(motor_armed == true){
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// arm the motors and configure for flight
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init_disarm_motors();
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}
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// keep going up
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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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// Yaw is centered
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}else{
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arming_counter = 0;
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}
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}
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static void init_arm_motors()
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{
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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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//Serial.printf("\nARM\n");
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#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
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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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#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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// Remember Orientation
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// --------------------
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init_simple_bearing();
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init_z_damper();
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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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// 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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// temp hack
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motor_light = true;
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digitalWrite(A_LED_PIN, LED_ON);
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}
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static void init_disarm_motors()
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{
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//Serial.printf("\nDISARM\n");
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#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
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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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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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takeoff_complete = false;
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#if PIEZO_ARMING == 1
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piezo_beep();
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#endif
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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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int ch_of_mot( int mot ) {
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switch (mot) {
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case 1: return MOT_1;
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case 2: return MOT_2;
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case 3: return MOT_3;
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case 4: return MOT_4;
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case 5: return MOT_5;
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case 6: return MOT_6;
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case 7: return MOT_7;
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case 8: return MOT_8;
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}
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return (-1);
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}
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