autopilot_arming_throttle.h File Reference

Automatically arm the motors when applying throttle. More...

#include "autopilot_rc_helpers.h"
#include "autopilot_firmware.h"

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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 motors_on)
static bool	autopilot_arming_check_valid (void)
	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
enum arming_throttle_state	autopilot_arming_state
uint8_t	autopilot_arming_delay_counter
bool	autopilot_unarmed_in_auto

Detailed Description

Automatically arm the motors when applying throttle.

Definition in file autopilot_arming_throttle.h.

Macro Definition Documentation

#define AUTOPILOT_ARMING_DELAY   10

Definition at line 35 of file autopilot_arming_throttle.h.

Referenced by autopilot_arming_check_motors_on().

Enumeration Type Documentation

enum arming_throttle_state

Enumerator
STATE_UNINIT
STATE_WAITING
STATE_MOTORS_OFF_READY
STATE_ARMING
STATE_MOTORS_ON
STATE_UNARMING

Definition at line 37 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

Definition at line 98 of file autopilot_arming_throttle.h.

References AP_ARMING_STATUS_ARMED, AP_ARMING_STATUS_ARMING, AP_ARMING_STATUS_DISARMING, AP_ARMING_STATUS_KILLED, AP_ARMING_STATUS_THROTTLE_NOT_DOWN, AP_MODE_KILL, pprz_autopilot::arming_status, autopilot, autopilot_arming_check_valid(), AUTOPILOT_ARMING_DELAY, autopilot_arming_delay_counter, autopilot_arming_state, autopilot_get_mode(), autopilot_unarmed_in_auto, MODE_MANUAL, pprz_autopilot::motors_on, STATE_ARMING, STATE_MOTORS_OFF_READY, STATE_MOTORS_ON, STATE_UNARMING, STATE_UNINIT, STATE_WAITING, and THROTTLE_STICK_DOWN.

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static bool autopilot_arming_check_valid ( void  )

inlinestatic

Checks all arm requirements and returns true if OK and false otherwise.

Also sets the arming status to provide information to the user

Returns

true if arming checks are all valid

Definition at line 73 of file autopilot_arming_throttle.h.

References AP_ARMING_STATUS_NOT_MODE_MANUAL, AP_ARMING_STATUS_PITCH_NOT_CENTERED, AP_ARMING_STATUS_ROLL_NOT_CENTERED, AP_ARMING_STATUS_THROTTLE_DOWN, AP_ARMING_STATUS_YAW_NOT_CENTERED, pprz_autopilot::arming_status, autopilot, autopilot_get_mode(), autopilot_unarmed_in_auto, MODE_MANUAL, PITCH_STICK_CENTERED, ROLL_STICK_CENTERED, THROTTLE_STICK_DOWN, and YAW_STICK_CENTERED.

Referenced by autopilot_arming_check_motors_on().

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static void autopilot_arming_init ( void  )

inlinestatic

Definition at line 50 of file autopilot_arming_throttle.h.

References autopilot_arming_delay_counter, autopilot_arming_state, autopilot_unarmed_in_auto, and STATE_UNINIT.

static void autopilot_arming_set ( bool  motors_on )

inlinestatic

Definition at line 57 of file autopilot_arming_throttle.h.

References autopilot_arming_state, STATE_MOTORS_ON, and STATE_WAITING.

Variable Documentation

uint8_t autopilot_arming_delay_counter

Definition at line 47 of file autopilot_arming_throttle.h.

Referenced by autopilot_arming_check_motors_on(), and autopilot_arming_init().

enum arming_throttle_state autopilot_arming_state

Definition at line 46 of file autopilot_arming_throttle.h.

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

bool autopilot_unarmed_in_auto

Definition at line 48 of file autopilot_arming_throttle.h.

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