Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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autopilot_arming_throttle.h File Reference
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Macros

#define AUTOPILOT_ARMING_DELAY   10
 

Enumerations

enum  arming_throttle_state {
  STATE_UNINIT, STATE_WAITING, STATE_MOTORS_OFF_READY, STATE_ARMING,
  STATE_MOTORS_ON, STATE_UNARMING
}
 

Functions

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

Variables

enum arming_throttle_state autopilot_arming_state
 
uint8_t autopilot_arming_delay_counter
 
bool_t autopilot_unarmed_in_auto
 

Macro Definition Documentation

#define AUTOPILOT_ARMING_DELAY   10

Definition at line 27 of file autopilot_arming_throttle.h.

Referenced by autopilot_arming_check_motors_on().

Enumeration Type Documentation

Enumerator
STATE_UNINIT 
STATE_WAITING 
STATE_MOTORS_OFF_READY 
STATE_ARMING 
STATE_MOTORS_ON 
STATE_UNARMING 

Definition at line 29 of file autopilot_arming_throttle.h.

Function Documentation

static void autopilot_arming_check_motors_on ( void  )
inlinestatic

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

  • automatically unkill when applying throttle
  • if throttle was not down at startup, you need to put throttle down again first
  • other sticks need to be centered to start motors
  • need to be in manual mode to start the motors
  • AHRS needs to be aligned

Definition at line 67 of file autopilot_arming_throttle.h.

References AP_MODE_KILL, AUTOPILOT_ARMING_DELAY, autopilot_arming_delay_counter, autopilot_arming_state, autopilot_mode, autopilot_motors_on, autopilot_unarmed_in_auto, FALSE, MODE_MANUAL, rc_attitude_sticks_centered(), STATE_ARMING, STATE_MOTORS_OFF_READY, STATE_MOTORS_ON, STATE_UNARMING, STATE_UNINIT, STATE_WAITING, THROTTLE_STICK_DOWN, and TRUE.

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static void autopilot_arming_init ( void  )
inlinestatic
static void autopilot_arming_set ( bool_t  motors_on)
inlinestatic

Variable Documentation

uint8_t autopilot_arming_delay_counter
bool_t autopilot_unarmed_in_auto