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147 lines
3.3 KiB
147 lines
3.3 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#define ARM_DELAY 10 // one second |
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#define DISARM_DELAY 10 // one second |
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#define LEVEL_DELAY 120 // twelve seconds |
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#define AUTO_LEVEL_DELAY 150 // twentyfive seconds |
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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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// Arm motor output : Throttle down and full yaw right for more than 2 seconds |
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if (g.rc_3.control_in == 0){ |
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// full right |
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if (g.rc_4.control_in > 4000) { |
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// don't allow arming in anything but manual |
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if (control_mode < ALT_HOLD){ |
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if (arming_counter > AUTO_LEVEL_DELAY){ |
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auto_level_counter = 155; |
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arming_counter = 0; |
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}else if (arming_counter == ARM_DELAY){ |
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#if HIL_MODE != HIL_MODE_DISABLED |
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hil.send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS")); |
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#endif |
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motor_armed = true; |
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arming_counter = ARM_DELAY; |
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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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// Tune down DCM |
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// ------------------- |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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dcm.kp_roll_pitch(0.120000); |
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dcm.ki_roll_pitch(0.00001278), // 50 hz I term |
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//dcm.ki_roll_pitch(0.000006); |
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#endif |
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// tune down compass |
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// ----------------- |
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dcm.kp_yaw(0.08); |
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dcm.ki_yaw(0); |
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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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arming_counter++; |
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} else{ |
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arming_counter++; |
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} |
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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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//Serial.print(arming_counter, DEC); |
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if (arming_counter > LEVEL_DELAY){ |
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//Serial.print("init"); |
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imu.init_accel(mavlink_delay); |
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arming_counter = 0; |
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}else if (arming_counter == DISARM_DELAY){ |
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#if HIL_MODE != HIL_MODE_DISABLED |
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hil.send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS")); |
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#endif |
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motor_armed = false; |
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arming_counter = DISARM_DELAY; |
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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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// Tune down DCM |
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// ------------------- |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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//dcm.kp_roll_pitch(0.12); // higher for fast recovery |
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//dcm.ki_roll_pitch(0.00000319); // 1/4 of the normal rate for 200 hz loop |
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#endif |
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// tune up compass |
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// ----------------- |
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dcm.kp_yaw(0.8); |
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dcm.ki_yaw(0.00004); |
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// Clear throttle slew |
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// ------------------- |
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//throttle_slew = 0; |
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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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// centered |
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}else{ |
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arming_counter = 0; |
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} |
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}else{ |
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arming_counter = 0; |
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} |
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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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