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55 lines
1.7 KiB
55 lines
1.7 KiB
/* |
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* AP_ArmingMechanism.cpp |
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* |
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*/ |
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#include "AP_ArmingMechanism.h" |
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#include "AP_Controller.h" |
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#include "AP_RcChannel.h" |
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#include "../FastSerial/FastSerial.h" |
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#include "AP_Board.h" |
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#include "AP_CommLink.h" |
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namespace apo { |
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void AP_ArmingMechanism::update(const float dt) { |
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//_board->debug->printf_P(PSTR("ch1: %f\tch2: %f\n"),_board->rc[_ch1]->getRadioPosition(), _board->rc[_ch2]->getRadioPosition()); |
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// arming |
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if ( (_controller->getState() != MAV_STATE_ACTIVE) && |
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(fabs(_board->rc[_ch1]->getRadioPosition()) < _ch1Min) && |
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(_board->rc[_ch2]->getRadioPosition() < _ch2Min) ) { |
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// always start clock at 0 |
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if (_armingClock<0) _armingClock = 0; |
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if (_armingClock++ >= 100) { |
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_controller->setMode(MAV_MODE_READY); |
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} else { |
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_board->gcs->sendText(SEVERITY_HIGH, PSTR("arming")); |
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} |
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} |
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// disarming |
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else if ( (_controller->getState() == MAV_STATE_ACTIVE) && |
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(fabs(_board->rc[_ch1]->getRadioPosition()) < _ch1Min) && |
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(_board->rc[_ch2]->getRadioPosition() > _ch2Max) ) { |
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// always start clock at 0 |
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if (_armingClock>0) _armingClock = 0; |
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if (_armingClock-- <= -100) { |
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_controller->setMode(MAV_MODE_LOCKED); |
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} else { |
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_board->gcs->sendText(SEVERITY_HIGH, PSTR("disarming")); |
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} |
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} |
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// reset arming clock and report status |
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else if (_armingClock != 0) { |
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_armingClock = 0; |
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if (_controller->getState()==MAV_STATE_ACTIVE) _board->gcs->sendText(SEVERITY_HIGH, PSTR("armed")); |
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else if (_controller->getState()!=MAV_STATE_ACTIVE) _board->gcs->sendText(SEVERITY_HIGH, PSTR("disarmed")); |
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} |
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} |
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} // apo |
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// vim:ts=4:sw=4:expandtab
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