autopilot_arming_switch.h File Reference

Arm the motors using a switch. More...

#include "autopilot_rc_helpers.h"

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Enumerations
enum	arming_state {   STATE_UNINIT, STATE_WAITING, STATE_STARTABLE, STATE_MOTORS_ON,   STATUS_INITIALISE_RC, 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 }

Functions
static void	autopilot_arming_init (void)
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. More...

Variables
enum arming_state	autopilot_arming_state
bool	autopilot_unarmed_in_auto

Detailed Description

Arm the motors using a switch.

Definition in file autopilot_arming_switch.h.

Enumeration Type Documentation

enum arming_state

Enumerator
STATE_UNINIT
STATE_WAITING
STATE_STARTABLE
STATE_MOTORS_ON
STATUS_INITIALISE_RC
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 38 of file autopilot_arming_switch.h.

Function Documentation

static void autopilot_arming_check_motors_on ( void  )

inlinestatic

State machine to check if motors should be turned ON or OFF using the kill switch.

If kill switch is off during startup (unkilled), you need to kill again first, then unkill to start. Also to start the motors, throttle needs to be down, other sticks centered, AHRS aligned and you need be in manual mode.

Definition at line 79 of file autopilot_arming_switch.h.

References AP_MODE_FAILSAFE, AP_MODE_KILL, autopilot, autopilot_arming_state, autopilot_get_mode(), autopilot_unarmed_in_auto, kill_switch_is_on(), MODE_MANUAL, pprz_autopilot::motors_on, rc_attitude_sticks_centered(), STATE_MOTORS_ON, STATE_STARTABLE, STATE_UNINIT, STATE_WAITING, and THROTTLE_STICK_DOWN.

Referenced by autopilot_generated_on_rc_frame(), and autopilot_static_on_rc_frame().

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static void autopilot_arming_init ( void  )

inlinestatic

Definition at line 48 of file autopilot_arming_switch.h.

References autopilot_arming_state, autopilot_unarmed_in_auto, and STATE_UNINIT.

Referenced by autopilot_generated_init(), and autopilot_static_init().

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static void autopilot_arming_set ( bool  motors_on )

inlinestatic

Definition at line 54 of file autopilot_arming_switch.h.

References AP_MODE_FAILSAFE, AP_MODE_KILL, autopilot_arming_state, autopilot_get_mode(), autopilot_unarmed_in_auto, MODE_MANUAL, STATE_MOTORS_ON, and STATE_STARTABLE.

Referenced by autopilot_generated_set_motors_on(), and autopilot_static_set_motors_on().

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Variable Documentation

enum arming_state autopilot_arming_state

Definition at line 45 of file autopilot_arming_switch.h.

Referenced by autopilot_arming_check_motors_on(), autopilot_arming_init(), and autopilot_arming_set().

bool autopilot_unarmed_in_auto

Definition at line 46 of file autopilot_arming_switch.h.

Referenced by autopilot_arming_check_motors_on(), autopilot_arming_init(), and autopilot_arming_set().