Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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autopilot_arming_yaw.h File Reference

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

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Macros

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

Enumerations

enum  arming_state {
  STATE_UNINIT, STATE_WAITING, STATE_STARTABLE, STATE_MOTORS_ON,
  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_t motors_on)
 Update the status of the check_motors state machine. 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
 

Detailed Description

Arm the motors by with max yaw stick.

Definition in file autopilot_arming_yaw.h.

Macro Definition Documentation

#define MOTOR_ARMING_DELAY   40

Delay until motors are armed/disarmed.

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

Definition at line 39 of file autopilot_arming_yaw.h.

Referenced by autopilot_arming_check_motors_on().

Enumeration Type Documentation

Motors ON check state machine states.

Enumerator
STATE_UNINIT 
STATE_WAITING 
STATE_STARTABLE 
STATE_MOTORS_ON 
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 43 of file autopilot_arming_yaw.h.

Function Documentation

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 77 of file autopilot_arming_yaw.h.

References AP_MODE_FAILSAFE, AP_MODE_KILL, autopilot_check_motor_status, autopilot_mode, autopilot_motors_on, autopilot_motors_on_counter, FALSE, MOTOR_ARMING_DELAY, STATUS_M_OFF_STICK_PUSHED, STATUS_M_ON_STICK_PUSHED, STATUS_MOTORS_OFF, STATUS_MOTORS_ON, STATUS_START_MOTORS, STATUS_STOP_MOTORS, THROTTLE_STICK_DOWN, TRUE, and YAW_STICK_PUSHED.

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

Update the status of the check_motors state machine.

Definition at line 64 of file autopilot_arming_yaw.h.

References autopilot_check_motor_status, STATUS_MOTORS_OFF, and STATUS_MOTORS_ON.

Variable Documentation

enum arming_state autopilot_check_motor_status
uint32_t autopilot_motors_on_counter