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134 lines
2.7 KiB
134 lines
2.7 KiB
/// -*- 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 30 |
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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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//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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// 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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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, HIGH); |
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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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#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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