Arm the motors by with max yaw stick. More...

#include "autopilot_arming_common.h"
#include "autopilot_firmware.h"
#include "autopilot.h"
#include "mcu_periph/sys_time.h"

Include dependency graph for autopilot_arming_yaw.h:

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Macros
#define	MOTOR_ARMING_DELAY 40
	Delay until motors are armed/disarmed. More...

#define	MOTOR_RE_ARM_TIME 10.0

#define	YAW_MUST_BE_CENTERED true

#define	YAW_MUST_BE_PUSHED false

Enumerations
enum	arming_state { STATE_UNINIT , STATE_WAITING , STATE_STARTABLE , STATE_MOTORS_ON , STATUS_INITIALISE_RC , STATUS_MOTORS_RC_KILLED , STATUS_MOTORS_AUTOMATICALLY_OFF , STATUS_MOTORS_AUTOMATICALLY_OFF_SAFETY_WAIT , STATUS_MOTORS_OFF , STATUS_M_OFF_STICK_PUSHED , STATUS_START_MOTORS , STATUS_MOTORS_ON , STATUS_M_ON_STICK_PUSHED , STATUS_STOP_MOTORS }
	Motors ON check state machine states. More...

Functions
static void	autopilot_arming_init (void)

static void	autopilot_arming_set (bool motors_on)
	Update the status of the check_motors state machine. More...

static bool	autopilot_arming_check_valid (bool yaw_must_be_centered)
	Checks all arm requirements and returns true if OK and false otherwise. More...

static void	autopilot_arming_check_motors_on (void)
	State machine to check if motors should be turned ON or OFF. More...

Variables
uint32_t	autopilot_motors_on_counter

enum arming_state	autopilot_check_motor_status

float	motor_kill_time

Detailed Description

Arm the motors by with max yaw stick.

Definition in file autopilot_arming_yaw.h.

Macro Definition Documentation

◆ MOTOR_ARMING_DELAY

#define MOTOR_ARMING_DELAY 40

Delay until motors are armed/disarmed.

In number of rc frames received. So 40 is usually ~1s.

Definition at line 42 of file autopilot_arming_yaw.h.

◆ MOTOR_RE_ARM_TIME

#define MOTOR_RE_ARM_TIME 10.0

Definition at line 46 of file autopilot_arming_yaw.h.

◆ YAW_MUST_BE_CENTERED

#define YAW_MUST_BE_CENTERED true

Definition at line 88 of file autopilot_arming_yaw.h.

◆ YAW_MUST_BE_PUSHED

#define YAW_MUST_BE_PUSHED false

Definition at line 89 of file autopilot_arming_yaw.h.

Enumeration Type Documentation

◆ arming_state

enum arming_state

Motors ON check state machine states.

Enumerator
STATE_UNINIT
STATE_WAITING
STATE_STARTABLE
STATE_MOTORS_ON
STATUS_INITIALISE_RC
STATUS_MOTORS_RC_KILLED
STATUS_MOTORS_AUTOMATICALLY_OFF
STATUS_MOTORS_AUTOMATICALLY_OFF_SAFETY_WAIT
STATUS_MOTORS_OFF
STATUS_M_OFF_STICK_PUSHED
STATUS_START_MOTORS
STATUS_MOTORS_ON
STATUS_M_ON_STICK_PUSHED
STATUS_STOP_MOTORS

Definition at line 49 of file autopilot_arming_yaw.h.

Function Documentation

◆ autopilot_arming_check_motors_on()

static void autopilot_arming_check_motors_on ( void )

inlinestatic

State machine to check if motors should be turned ON or OFF.

The motors start/stop when pushing the yaw stick without throttle until MOTOR_ARMING_DELAY is reached. An intermediate state prevents oscillating between ON and OFF while keeping the stick pushed. The stick must return to a neutral position before starting/stoping again.

Definition at line 122 of file autopilot_arming_yaw.h.

References AP_ARMING_STATUS_ARMED, AP_ARMING_STATUS_DISARMING, AP_ARMING_STATUS_KILLED, AP_ARMING_STATUS_WAITING, AP_MODE_KILL, pprz_autopilot::arming_status, autopilot, autopilot_arming_check_valid(), autopilot_arming_motors_on(), autopilot_check_motor_status, autopilot_get_mode(), autopilot_get_motors_on(), autopilot_motors_on_counter, autopilot_set_in_flight(), get_sys_time_float(), kill_switch_is_on(), MOTOR_ARMING_DELAY, motor_kill_time, MOTOR_RE_ARM_TIME, pprz_autopilot::motors_on, STATUS_INITIALISE_RC, STATUS_M_OFF_STICK_PUSHED, STATUS_M_ON_STICK_PUSHED, STATUS_MOTORS_AUTOMATICALLY_OFF, STATUS_MOTORS_AUTOMATICALLY_OFF_SAFETY_WAIT, STATUS_MOTORS_OFF, STATUS_MOTORS_ON, STATUS_MOTORS_RC_KILLED, STATUS_START_MOTORS, STATUS_STOP_MOTORS, THROTTLE_STICK_DOWN, YAW_MUST_BE_CENTERED, YAW_MUST_BE_PUSHED, YAW_STICK_CENTERED, and YAW_STICK_PUSHED.