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Copter: Lost copter alarm through sticks

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svefro 2015-04-28 22:00:45 +09:00 committed by Randy Mackay
parent b7a6e3bf2c
commit 5bee93cba3
1 changed files with 21 additions and 0 deletions
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21
ArduCopter/motors.pde
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@ -4,6 +4,7 @@
#define DISARM_DELAY 20 // called at 10hz so 2 seconds #define DISARM_DELAY 20 // called at 10hz so 2 seconds
#define AUTO_TRIM_DELAY 100 // called at 10hz so 10 seconds #define AUTO_TRIM_DELAY 100 // called at 10hz so 10 seconds
#define AUTO_DISARMING_DELAY 15 // called at 1hz so 15 seconds #define AUTO_DISARMING_DELAY 15 // called at 1hz so 15 seconds
#define NOTIFY_LOCATION_DELAY 1 // called at 1hz so 1 seconds
static uint8_t auto_disarming_counter; static uint8_t auto_disarming_counter;
@ -71,6 +72,26 @@ static void arm_motors_check()
// called at 1hz // called at 1hz
static void auto_disarm_check() static void auto_disarm_check()
{ {
static int16_t soundalarm_counter;
// ensure throttle is down, motors not armed, pitch and roll rc at max. Note: rc1=roll rc2=pitch
if (!g.rc_3.control_in > 0 && !motors.armed() && g.rc_1.control_in > 4000 && g.rc_2.control_in > 4000) {
if (soundalarm_counter >= NOTIFY_LOCATION_DELAY) {
if (AP_Notify::flags.vehicle_lost == false) {
AP_Notify::flags.vehicle_lost = true;
gcs_send_text_P(SEVERITY_HIGH,PSTR("Locate Copter Alarm!!"));
}
} else {
soundalarm_counter++;
}
}else{
soundalarm_counter = 0;
if (AP_Notify::flags.vehicle_lost == true) {
AP_Notify::flags.vehicle_lost = false;
gcs_send_text_P(SEVERITY_LOW,PSTR("Locate Copter Alarm Off"));
}
}
// exit immediately if we are already disarmed or throttle is not zero // exit immediately if we are already disarmed or throttle is not zero
if (!motors.armed() || !ap.throttle_zero) { if (!motors.armed() || !ap.throttle_zero) {
auto_disarming_counter = 0; auto_disarming_counter = 0;