Copter: move E-stop state to SRV_Channel

ArduCopter/AP_Arming.cpp

@@ -565,9 +565,9 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::ArmingMethod
     // if we are not using Emergency Stop switch option, force Estop false to ensure motors
     // can run normally
     if (!rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_ESTOP)){
-        copter.set_motor_emergency_stop(false);
+        SRV_Channels::set_emergency_stop(false);
         // if we are using motor Estop switch, it must not be in Estop position
-    } else if (rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_ESTOP) && copter.ap.motor_emergency_stop){
+    } else if (rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_ESTOP) && SRV_Channels::get_emergency_stop()){
         gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Motor Emergency Stopped");
         return false;
     }

ArduCopter/AP_State.cpp

@@ -89,17 +89,3 @@ void Copter::update_using_interlock()
     ap.using_interlock = rc().find_channel_for_option(RC_Channel::aux_func::MOTOR_INTERLOCK) != nullptr;
 #endif
 }
-
-void Copter::set_motor_emergency_stop(bool b)
-{
-    if(ap.motor_emergency_stop != b) {
-        ap.motor_emergency_stop = b;
-    }
-
-    // Log new status
-    if (ap.motor_emergency_stop){
-        Log_Write_Event(DATA_MOTORS_EMERGENCY_STOPPED);
-    } else {
-        Log_Write_Event(DATA_MOTORS_EMERGENCY_STOP_CLEARED);
-    }
-}

ArduCopter/Copter.h

@@ -313,14 +313,13 @@ private:
             uint8_t system_time_set_unused  : 1; // 16      // true if the system time has been set from the GPS
             uint8_t gps_glitching           : 1; // 17      // true if GPS glitching is affecting navigation accuracy
             uint8_t using_interlock         : 1; // 20      // aux switch motor interlock function is in use
-            uint8_t motor_emergency_stop    : 1; // 21      // motor estop switch, shuts off motors when enabled
-            uint8_t land_repo_active        : 1; // 22      // true if the pilot is overriding the landing position
-            uint8_t motor_interlock_switch  : 1; // 23      // true if pilot is requesting motor interlock enable
-            uint8_t in_arming_delay         : 1; // 24      // true while we are armed but waiting to spin motors
-            uint8_t initialised_params      : 1; // 25      // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
-            uint8_t compass_init_location   : 1; // 26      // true when the compass's initial location has been set
-            uint8_t unused2                 : 1; // 27      // aux switch rc_override is allowed
-            uint8_t armed_with_switch       : 1; // 28      // we armed using a arming switch
+            uint8_t land_repo_active        : 1; // 21      // true if the pilot is overriding the landing position
+            uint8_t motor_interlock_switch  : 1; // 22      // true if pilot is requesting motor interlock enable
+            uint8_t in_arming_delay         : 1; // 23      // true while we are armed but waiting to spin motors
+            uint8_t initialised_params      : 1; // 24      // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
+            uint8_t compass_init_location   : 1; // 25      // true when the compass's initial location has been set
+            uint8_t unused2                 : 1; // 26      // aux switch rc_override is allowed
+            uint8_t armed_with_switch       : 1; // 27      // we armed using a arming switch
         };
         uint32_t value;
     } ap_t;
@@ -613,7 +612,6 @@ private:
     void set_failsafe_radio(bool b);
     void set_failsafe_gcs(bool b);
     void update_using_interlock();
-    void set_motor_emergency_stop(bool b);
 
     // ArduCopter.cpp
     void fast_loop();

ArduCopter/RC_Channel.cpp

@@ -74,7 +74,6 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const aux_
     case MISSION_RESET:
     case ATTCON_FEEDFWD:
     case ATTCON_ACCEL_LIM:
-    case MOTOR_ESTOP:
     case MOTOR_INTERLOCK:
     case AVOID_ADSB:
     case PRECISION_LOITER:
@@ -354,11 +353,6 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
 #endif
             break;
 
-        case MOTOR_ESTOP:
-            // Turn on Emergency Stop logic when channel is high
-            copter.set_motor_emergency_stop(ch_flag == HIGH);
-            break;
-
         case MOTOR_INTERLOCK:
             // Turn on when above LOW, because channel will also be used for speed
             // control signal in tradheli

ArduCopter/motors.cpp

@@ -102,7 +102,7 @@ void Copter::auto_disarm_check()
 #endif
 
     // always allow auto disarm if using interlock switch or motors are Emergency Stopped
-    if ((ap.using_interlock && !motors->get_interlock()) || ap.motor_emergency_stop) {
+    if ((ap.using_interlock && !motors->get_interlock()) || SRV_Channels::get_emergency_stop()) {
 #if FRAME_CONFIG != HELI_FRAME
         // use a shorter delay if using throttle interlock switch or Emergency Stop, because it is less
         // obvious the copter is armed as the motors will not be spinning
@@ -330,7 +330,7 @@ void Copter::motors_output()
     if (ap.motor_test) {
         motor_test_output();
     } else {
-        bool interlock = motors->armed() && !ap.in_arming_delay && (!ap.using_interlock || ap.motor_interlock_switch) && !ap.motor_emergency_stop;
+        bool interlock = motors->armed() && !ap.in_arming_delay && (!ap.using_interlock || ap.motor_interlock_switch) && !SRV_Channels::get_emergency_stop();
         if (!motors->get_interlock() && interlock) {
             motors->set_interlock(true);
             Log_Write_Event(DATA_MOTORS_INTERLOCK_ENABLED);

ArduCopter/radio.cpp

@@ -191,7 +191,7 @@ void Copter::set_throttle_zero_flag(int16_t throttle_control)
     // if not using throttle interlock and non-zero throttle and not E-stopped,
     // or using motor interlock and it's enabled, then motors are running, 
     // and we are flying. Immediately set as non-zero
-    if ((!ap.using_interlock && (throttle_control > 0) && !ap.motor_emergency_stop) ||
+    if ((!ap.using_interlock && (throttle_control > 0) && !SRV_Channels::get_emergency_stop()) ||
         (ap.using_interlock && motors->get_interlock()) ||
         ap.armed_with_switch) {
         last_nonzero_throttle_ms = tnow_ms;