Paparazzi UAS  v5.15_devel-99-g2ff7410
Paparazzi is a free software Unmanned Aircraft System.
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autopilot_arming_switch.h
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2  * Copyright (C) 2012 The Paparazzi Team
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4  * This file is part of paparazzi.
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14  * GNU General Public License for more details.
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20  */
21 
29 #ifndef AUTOPILOT_ARMING_SWITCH_H
30 #define AUTOPILOT_ARMING_SWITCH_H
31 
32 #include "autopilot_rc_helpers.h"
33 
34 #ifndef RADIO_KILL_SWITCH
35 #error "You need to have a RADIO_KILL_SWITCH configured to arm the motors with the switch!"
36 #endif
37 
43 };
44 
47 
48 static inline void autopilot_arming_init(void)
49 {
52 }
53 
54 static inline void autopilot_arming_set(bool motors_on)
55 {
56  if (motors_on) {
58  } else {
61  /* if turned off in an AUTO mode, remember it so it can be turned on again in AUTO */
65  } else {
67  }
68  }
69  }
70 }
71 
79 static inline void autopilot_arming_check_motors_on(void)
80 {
81  switch (autopilot_arming_state) {
82  case STATE_UNINIT:
83  autopilot.motors_on = false;
84  if (kill_switch_is_on()) {
86  } else {
88  }
89  break;
90  case STATE_WAITING:
91  autopilot.motors_on = false;
92  if (kill_switch_is_on()) {
94  }
95  break;
96  case STATE_STARTABLE:
97  autopilot.motors_on = false;
98  /* don't allow to start if in KILL mode or kill switch is on */
100  break;
101  }
105  }
106  break;
107  case STATE_MOTORS_ON:
108  if (kill_switch_is_on()) {
109  /* kill motors, go to startable state */
110  autopilot.motors_on = false;
112  /* if turned off in an AUTO mode, remember it so it can be turned on again in AUTO */
116  } else {
118  }
119  } else {
120  autopilot.motors_on = true;
121  }
122  break;
123  default:
124  break;
125  }
126 
127 }
128 
129 #endif /* AUTOPILOT_ARMING_SWITCH_H */
#define THROTTLE_STICK_DOWN()
static void autopilot_arming_set(bool motors_on)
static void autopilot_arming_check_motors_on(void)
State machine to check if motors should be turned ON or OFF using the kill switch.
bool autopilot_unarmed_in_auto
#define AP_MODE_KILL
Static autopilot modes.
static bool rc_attitude_sticks_centered(void)
Convenience macro for 3way switch.
enum arming_state autopilot_arming_state
static bool kill_switch_is_on(void)
struct pprz_autopilot autopilot
Global autopilot structure.
Definition: autopilot.c:50
#define MODE_MANUAL
Default RC mode.
Some helper functions to check RC sticks.
static void autopilot_arming_init(void)
bool motors_on
motor status
Definition: autopilot.h:68
#define AP_MODE_FAILSAFE
uint8_t autopilot_get_mode(void)
get autopilot mode
Definition: autopilot.c:184