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Copter: Add Aux Switch E-Stop Function

mission-4.1.18
Robert Lefebvre 10 years ago committed by Randy Mackay
parent
1a482de5e2
commit
7349827eb1
6 changed files with 47 additions and 9 deletions
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  1. 6
      ArduCopter/AP_State.pde
  2. 1
      ArduCopter/ArduCopter.pde
  3. 12
      ArduCopter/Parameters.pde
  4. 1
      ArduCopter/defines.h
  5. 27
      ArduCopter/motors.pde
  6. 9
      ArduCopter/switches.pde

6
ArduCopter/AP_State.pde
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@ -153,3 +153,9 @@ void set_using_interlock(bool b) @@ -153,3 +153,9 @@ void set_using_interlock(bool b)
}
}
void set_motor_estop(bool b)
{
if(ap.motor_estop != b) {
ap.motor_estop = b;
}
}

1
ArduCopter/ArduCopter.pde
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@ -359,6 +359,7 @@ static union { @@ -359,6 +359,7 @@ static union {
enum HomeState home_state : 2; // 30,31 // home status (unset, set, locked)
uint8_t motor_interlock : 1; // 32 // motor interlock status, final control for motors on/off
uint8_t using_interlock : 1; // 33 // aux switch motor interlock function is in use
uint8_t motor_estop : 1; // 34 // motor estop switch, shuts off motors when enabled
};
uint32_t value;
} ap;

12
ArduCopter/Parameters.pde
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@ -379,42 +379,42 @@ const AP_Param::Info var_info[] PROGMEM = { @@ -379,42 +379,42 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: CH7_OPT
// @DisplayName: Channel 7 option
// @Description: Select which function if performed when CH7 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:E-Stop, 32:Motor Interlock
// @User: Standard
GSCALAR(ch7_option, "CH7_OPT", AUXSW_DO_NOTHING),
// @Param: CH8_OPT
// @DisplayName: Channel 8 option
// @Description: Select which function if performed when CH8 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:E-Stop, 32:Motor Interlock
// @User: Standard
GSCALAR(ch8_option, "CH8_OPT", AUXSW_DO_NOTHING),
// @Param: CH9_OPT
// @DisplayName: Channel 9 option
// @Description: Select which function if performed when CH9 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:E-Stop, 32:Motor Interlock
// @User: Standard
GSCALAR(ch9_option, "CH9_OPT", AUXSW_DO_NOTHING),
// @Param: CH10_OPT
// @DisplayName: Channel 10 option
// @Description: Select which function if performed when CH10 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:E-Stop, 32:Motor Interlock
// @User: Standard
GSCALAR(ch10_option, "CH10_OPT", AUXSW_DO_NOTHING),
// @Param: CH11_OPT
// @DisplayName: Channel 11 option
// @Description: Select which function if performed when CH11 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:E-Stop, 32:Motor Interlock
// @User: Standard
GSCALAR(ch11_option, "CH11_OPT", AUXSW_DO_NOTHING),
// @Param: CH12_OPT
// @DisplayName: Channel 12 option
// @Description: Select which function if performed when CH12 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:E-Stop, 32:Motor Interlock
// @User: Standard
GSCALAR(ch12_option, "CH12_OPT", AUXSW_DO_NOTHING),

1
ArduCopter/defines.h
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@ -66,6 +66,7 @@ enum aux_sw_func { @@ -66,6 +66,7 @@ enum aux_sw_func {
AUXSW_RELAY, // Relay pin on/off (only supports first relay)
AUXSW_LANDING_GEAR, // Landing gear controller
AUXSW_LOST_COPTER_SOUND, // Play lost copter sound
AUXSW_MOTOR_ESTOP, // Emergency Stop Switch
AUXSW_MOTOR_INTERLOCK, // Motor On/Off switch
};

27
ArduCopter/motors.pde
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@ -167,6 +167,17 @@ static bool init_arm_motors(bool arming_from_gcs) @@ -167,6 +167,17 @@ static bool init_arm_motors(bool arming_from_gcs)
return false;
}
// if we are not E-Stop switch option, force Estop false to ensure motors
// can run normally
if (!check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
set_motor_estop(false);
// if we are using motor Estop switch, it must not be in Estop position
} else if (check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && ap.motor_estop){
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Motor Emergency Stopped"));
AP_Notify::flags.armed = false;
return false;
}
// enable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(true);
hal.util->set_soft_armed(true);
@ -228,6 +239,15 @@ static bool pre_arm_checks(bool display_failure) @@ -228,6 +239,15 @@ static bool pre_arm_checks(bool display_failure)
return false;
}
// if we are using Motor E-Stop aux switch, check it is not enabled
// and warn if it is
if (check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && ap.motor_estop){
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Motor Emergency Stopped"));
}
return false;
}
// exit immediately if we've already successfully performed the pre-arm check
if (ap.pre_arm_check) {
// run gps checks because results may change and affect LED colour
@ -757,8 +777,11 @@ static void motors_output() @@ -757,8 +777,11 @@ static void motors_output()
// true means motors run, false motors don't run
motors.set_interlock(ap.motor_interlock);
} else {
// if not using interlock switch, force interlock true
motors.set_interlock(true);
// if not using interlock switch, set according to E-Stop status
// where E-Stop is forced false during arming if E-Stop switch
// is not used. Interlock enabled means motors run, so we must
// invert motor_estop status for motors to run.
motors.set_interlock(!ap.motor_estop);
}
motors.output();
}

9
ArduCopter/switches.pde
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@ -227,6 +227,8 @@ static void init_aux_switch_function(int8_t ch_option, uint8_t ch_flag) @@ -227,6 +227,8 @@ static void init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
case AUXSW_ATTCON_ACCEL_LIM:
case AUXSW_RELAY:
case AUXSW_LANDING_GEAR:
case AUXSW_MOTOR_ESTOP:
case AUXSW_MOTOR_INTERLOCK:
do_aux_switch_function(ch_option, ch_flag);
break;
}
@ -533,7 +535,12 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -533,7 +535,12 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
landinggear.set_cmd_mode(LandingGear_Retract);
break;
}
break;
break;
case AUXSW_MOTOR_ESTOP:
// Turn on E-Stop logic when channel is high
set_motor_estop(ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_LOST_COPTER_SOUND:
switch (ch_flag) {

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