Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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autopilot_arming_switch.h
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4  * This file is part of paparazzi.
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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) {
51 }
52 
53 static inline void autopilot_arming_set(bool_t motors_on) {
54  if (motors_on) {
56  }
57  else {
60  /* if turned off in an AUTO mode, remember it so it can be turned on again in AUTO */
61  if (autopilot_mode != MODE_MANUAL) {
63  }
64  else {
66  }
67  }
68  }
69 }
70 
78 static inline void autopilot_arming_check_motors_on( void ) {
79  switch(autopilot_arming_state) {
80  case STATE_UNINIT:
82  if (kill_switch_is_on()) {
84  }
85  else {
87  }
88  break;
89  case STATE_WAITING:
91  if (kill_switch_is_on()) {
93  }
94  break;
95  case STATE_STARTABLE:
97  if (!kill_switch_is_on() &&
102  }
103  break;
104  case STATE_MOTORS_ON:
106  if (kill_switch_is_on()) {
107  /* if killed, go to STATE_STARTABLE where motors will be turned off */
109  /* if turned off in an AUTO mode, remember it so it can be turned on again in AUTO */
110  if (autopilot_mode != MODE_MANUAL) {
112  }
113  else {
115  }
116  }
117  break;
118  default:
119  break;
120  }
121 
122 }
123 
124 #endif /* AUTOPILOT_ARMING_SWITCH_H */
static void autopilot_arming_check_motors_on(void)
State machine to check if motors should be turned ON or OFF using the kill switch.
uint8_t autopilot_mode
Definition: autopilot.c:39
bool_t autopilot_unarmed_in_auto
bool_t autopilot_motors_on
Definition: autopilot.c:46
static bool_t kill_switch_is_on(void)
static void autopilot_arming_set(bool_t motors_on)
static bool_t rc_attitude_sticks_centered(void)
enum arming_state autopilot_arming_state
#define THROTTLE_STICK_DOWN()
#define FALSE
Definition: imu_chimu.h:141
static void autopilot_arming_init(void)
#define TRUE
Definition: imu_chimu.h:144
Some helper functions to check RC sticks.
#define MODE_MANUAL
Default RC mode.
Definition: autopilot.h:79