You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
408 lines
11 KiB
408 lines
11 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
#define ARM_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_DISARMING_DELAY 25 // called at 1hz so 25 seconds |
|
|
|
// arm_motors_check - checks for pilot input to arm or disarm the copter |
|
// called at 10hz |
|
static void arm_motors_check() |
|
{ |
|
static int16_t arming_counter; |
|
bool allow_arming = false; |
|
|
|
// ensure throttle is down |
|
if (g.rc_3.control_in > 0) { |
|
arming_counter = 0; |
|
return; |
|
} |
|
|
|
// allow arming/disarming in fully manual flight modes ACRO, STABILIZE, SPORT and TOY |
|
if (manual_flight_mode(control_mode)) { |
|
allow_arming = true; |
|
} |
|
|
|
// allow arming/disarming in Loiter and AltHold if landed |
|
if (ap.land_complete && (control_mode == LOITER || control_mode == ALT_HOLD)) { |
|
allow_arming = true; |
|
} |
|
|
|
// kick out other flight modes |
|
if (!allow_arming) { |
|
arming_counter = 0; |
|
return; |
|
} |
|
|
|
#if FRAME_CONFIG == HELI_FRAME |
|
if ((motors.rsc_mode > 0) && (g.rc_8.control_in >= 10)){ |
|
arming_counter = 0; |
|
return; |
|
} |
|
#endif // HELI_FRAME |
|
|
|
#if TOY_EDF == ENABLED |
|
int16_t tmp = g.rc_1.control_in; |
|
#else |
|
int16_t tmp = g.rc_4.control_in; |
|
#endif |
|
|
|
// full right |
|
if (tmp > 4000) { |
|
|
|
// increase the arming counter to a maximum of 1 beyond the auto trim counter |
|
if( arming_counter <= AUTO_TRIM_DELAY ) { |
|
arming_counter++; |
|
} |
|
|
|
// arm the motors and configure for flight |
|
if (arming_counter == ARM_DELAY && !motors.armed()) { |
|
// run pre-arm-checks and display failures |
|
pre_arm_checks(true); |
|
if(ap.pre_arm_check) { |
|
init_arm_motors(); |
|
}else{ |
|
// reset arming counter if pre-arm checks fail |
|
arming_counter = 0; |
|
} |
|
} |
|
|
|
// arm the motors and configure for flight |
|
if (arming_counter == AUTO_TRIM_DELAY && motors.armed()) { |
|
auto_trim_counter = 250; |
|
} |
|
|
|
// full left |
|
}else if (tmp < -4000) { |
|
|
|
// increase the counter to a maximum of 1 beyond the disarm delay |
|
if( arming_counter <= DISARM_DELAY ) { |
|
arming_counter++; |
|
} |
|
|
|
// disarm the motors |
|
if (arming_counter == DISARM_DELAY && motors.armed()) { |
|
init_disarm_motors(); |
|
} |
|
|
|
// Yaw is centered so reset arming counter |
|
}else{ |
|
arming_counter = 0; |
|
} |
|
} |
|
|
|
// auto_disarm_check - disarms the copter if it has been sitting on the ground in manual mode with throttle low for at least 25 seconds |
|
// called at 1hz |
|
static void auto_disarm_check() |
|
{ |
|
static uint8_t auto_disarming_counter; |
|
|
|
if(manual_flight_mode(control_mode) && (g.rc_3.control_in == 0) && motors.armed()) { |
|
auto_disarming_counter++; |
|
|
|
if(auto_disarming_counter == AUTO_DISARMING_DELAY) { |
|
init_disarm_motors(); |
|
}else if (auto_disarming_counter > AUTO_DISARMING_DELAY) { |
|
auto_disarming_counter = AUTO_DISARMING_DELAY + 1; |
|
} |
|
}else{ |
|
auto_disarming_counter = 0; |
|
} |
|
} |
|
|
|
// init_arm_motors - performs arming process including initialisation of barometer and gyros |
|
static void init_arm_motors() |
|
{ |
|
// arming marker |
|
// Flag used to track if we have armed the motors the first time. |
|
// This is used to decide if we should run the ground_start routine |
|
// which calibrates the IMU |
|
static bool did_ground_start = false; |
|
|
|
// disable cpu failsafe because initialising everything takes a while |
|
failsafe_disable(); |
|
|
|
#if LOGGING_ENABLED == ENABLED |
|
// start dataflash |
|
start_logging(); |
|
#endif |
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL |
|
gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS")); |
|
#endif |
|
|
|
// we don't want writes to the serial port to cause us to pause |
|
// mid-flight, so set the serial ports non-blocking once we arm |
|
// the motors |
|
hal.uartA->set_blocking_writes(false); |
|
if (gcs3.initialised) { |
|
hal.uartC->set_blocking_writes(false); |
|
} |
|
|
|
#if COPTER_LEDS == ENABLED |
|
piezo_beep_twice(); |
|
#endif |
|
|
|
// Remember Orientation |
|
// -------------------- |
|
init_simple_bearing(); |
|
|
|
initial_armed_bearing = ahrs.yaw_sensor; |
|
|
|
// Reset home position |
|
// ------------------- |
|
if(ap.home_is_set) |
|
init_home(); |
|
|
|
// all I terms are invalid |
|
// ----------------------- |
|
reset_I_all(); |
|
|
|
if(did_ground_start == false) { |
|
did_ground_start = true; |
|
startup_ground(); |
|
} |
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE |
|
// read Baro pressure at ground - |
|
// this resets Baro for more accuracy |
|
//----------------------------------- |
|
init_barometer(); |
|
#endif |
|
|
|
// go back to normal AHRS gains |
|
ahrs.set_fast_gains(false); |
|
#if SECONDARY_DMP_ENABLED == ENABLED |
|
ahrs2.set_fast_gains(false); |
|
#endif |
|
|
|
// enable gps velocity based centrefugal force compensation |
|
ahrs.set_correct_centrifugal(true); |
|
|
|
// set hover throttle |
|
motors.set_mid_throttle(g.throttle_mid); |
|
|
|
// update leds on board |
|
update_arming_light(); |
|
|
|
#if COPTER_LEDS == ENABLED |
|
piezo_beep_twice(); |
|
#endif |
|
|
|
// Cancel arming if throttle is raised too high so that copter does not suddenly take off |
|
read_radio(); |
|
if (g.rc_3.control_in > g.throttle_cruise && g.throttle_cruise > 100) { |
|
motors.output_min(); |
|
failsafe_enable(); |
|
return; |
|
} |
|
|
|
// enable output to motors |
|
output_min(); |
|
|
|
// finally actually arm the motors |
|
motors.armed(true); |
|
|
|
// log arming to dataflash |
|
Log_Write_Event(DATA_ARMED); |
|
|
|
// reenable failsafe |
|
failsafe_enable(); |
|
} |
|
|
|
// perform pre-arm checks and set ap.pre_arm_check flag |
|
static void pre_arm_checks(bool display_failure) |
|
{ |
|
// exit immediately if we've already successfully performed the pre-arm check |
|
if( ap.pre_arm_check ) { |
|
return; |
|
} |
|
|
|
// succeed if pre arm checks are disabled |
|
if(!g.arming_check_enabled) { |
|
ap.pre_arm_check = true; |
|
return; |
|
} |
|
|
|
// pre-arm rc checks a prerequisite |
|
pre_arm_rc_checks(); |
|
if(!ap.pre_arm_rc_check) { |
|
if (display_failure) { |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: RC not calibrated")); |
|
} |
|
return; |
|
} |
|
|
|
// pre-arm check to ensure ch7 and ch8 have different functions |
|
if ((g.ch7_option != 0 || g.ch8_option != 0) && g.ch7_option == g.ch8_option) { |
|
if (display_failure) { |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Ch7&Ch8 Opt cannot be same")); |
|
} |
|
return; |
|
} |
|
|
|
// check accelerometers have been calibrated |
|
if(!ins.calibrated()) { |
|
if (display_failure) { |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: INS not calibrated")); |
|
} |
|
return; |
|
} |
|
|
|
// check the compass is healthy |
|
if(!compass.healthy) { |
|
if (display_failure) { |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy")); |
|
} |
|
return; |
|
} |
|
|
|
// check compass learning is on or offsets have been set |
|
Vector3f offsets = compass.get_offsets(); |
|
if(!compass._learn && offsets.length() == 0) { |
|
if (display_failure) { |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not calibrated")); |
|
} |
|
return; |
|
} |
|
|
|
// check for unreasonable compass offsets |
|
if(offsets.length() > 500) { |
|
if (display_failure) { |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass offsets too high")); |
|
} |
|
return; |
|
} |
|
|
|
// check for unreasonable mag field length |
|
float mag_field = pythagorous3(compass.mag_x, compass.mag_y, compass.mag_z); |
|
if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65 || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35) { |
|
if (display_failure) { |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check mag field")); |
|
} |
|
return; |
|
} |
|
|
|
// barometer health check |
|
if(!barometer.healthy) { |
|
if (display_failure) { |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Baro not healthy")); |
|
} |
|
return; |
|
} |
|
|
|
#if AC_FENCE == ENABLED |
|
// check fence is initialised |
|
if(!fence.pre_arm_check()) { |
|
if (display_failure) { |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: No GPS Lock")); |
|
} |
|
return; |
|
} |
|
#endif |
|
|
|
#if CONFIG_HAL_BOARD != HAL_BOARD_PX4 |
|
// check board voltage |
|
if(board_voltage() < BOARD_VOLTAGE_MIN || board_voltage() > BOARD_VOLTAGE_MAX) { |
|
if (display_failure) { |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check Board Voltage")); |
|
} |
|
return; |
|
} |
|
#endif |
|
|
|
// failsafe parameter checks |
|
if (g.failsafe_throttle) { |
|
// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900 |
|
if (g.rc_3.radio_min <= g.failsafe_throttle_value+10 || g.failsafe_throttle_value < 910) { |
|
if (display_failure) { |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check FS_THR_VALUE")); |
|
} |
|
return; |
|
} |
|
} |
|
|
|
// lean angle parameter check |
|
if (g.angle_max < 1000 || g.angle_max > 8000) { |
|
if (display_failure) { |
|
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check ANGLE_MAX")); |
|
} |
|
return; |
|
} |
|
|
|
// if we've gotten this far then pre arm checks have completed |
|
ap.pre_arm_check = true; |
|
} |
|
|
|
// perform pre_arm_rc_checks checks and set ap.pre_arm_rc_check flag |
|
static void pre_arm_rc_checks() |
|
{ |
|
// exit immediately if we've already successfully performed the pre-arm rc check |
|
if( ap.pre_arm_rc_check ) { |
|
return; |
|
} |
|
|
|
// check if radio has been calibrated |
|
if(!g.rc_3.radio_min.load()) { |
|
return; |
|
} |
|
|
|
// check channels 1 & 2 have min <= 1300 and max >= 1700 |
|
if (g.rc_1.radio_min > 1300 || g.rc_1.radio_max < 1700 || g.rc_2.radio_min > 1300 || g.rc_2.radio_max < 1700) { |
|
return; |
|
} |
|
|
|
// check channels 3 & 4 have min <= 1300 and max >= 1700 |
|
if (g.rc_3.radio_min > 1300 || g.rc_3.radio_max < 1700 || g.rc_4.radio_min > 1300 || g.rc_4.radio_max < 1700) { |
|
return; |
|
} |
|
|
|
// if we've gotten this far rc is ok |
|
ap.pre_arm_rc_check = true; |
|
} |
|
|
|
static void init_disarm_motors() |
|
{ |
|
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL |
|
gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS")); |
|
#endif |
|
|
|
motors.armed(false); |
|
|
|
compass.save_offsets(); |
|
|
|
g.throttle_cruise.save(); |
|
|
|
// we are not in the air |
|
set_takeoff_complete(false); |
|
|
|
#if COPTER_LEDS == ENABLED |
|
piezo_beep(); |
|
#endif |
|
|
|
// setup fast AHRS gains to get right attitude |
|
ahrs.set_fast_gains(true); |
|
#if SECONDARY_DMP_ENABLED == ENABLED |
|
ahrs2.set_fast_gains(true); |
|
#endif |
|
|
|
// log disarm to the dataflash |
|
Log_Write_Event(DATA_DISARMED); |
|
|
|
// disable gps velocity based centrefugal force compensation |
|
ahrs.set_correct_centrifugal(false); |
|
} |
|
|
|
/***************************************** |
|
* Set the flight control servos based on the current calculated values |
|
*****************************************/ |
|
static void |
|
set_servos_4() |
|
{ |
|
#if FRAME_CONFIG == TRI_FRAME |
|
// To-Do: implement improved stability patch for tri so that we do not need to limit throttle input to motors |
|
g.rc_3.servo_out = min(g.rc_3.servo_out, 800); |
|
#endif |
|
motors.output(); |
|
} |
|
|
|
|