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

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

Include dependency graph for autopilot_arming_yaw.h:

This graph shows which files directly or indirectly include this file:

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

#define	YAW_MUST_BE_CENTERED true

#define	YAW_MUST_BE_PUSHED false

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 }
	Motors ON check state machine states. More...

Functions
static void	autopilot_arming_init (void)

static void	autopilot_arming_set (bool motors_on)
	Update the status of the check_motors state machine. More...

static bool	autopilot_arming_check_valid (bool yaw_must_be_centered)
	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
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 received. So 40 is usually ~1s.

Definition at line 41 of file autopilot_arming_yaw.h.

Referenced by autopilot_arming_check_motors_on().

#define YAW_MUST_BE_CENTERED true

Definition at line 79 of file autopilot_arming_yaw.h.

Referenced by autopilot_arming_check_motors_on().

#define YAW_MUST_BE_PUSHED false

Definition at line 80 of file autopilot_arming_yaw.h.

Referenced by autopilot_arming_check_motors_on().

Enumeration Type Documentation

enum arming_state

Motors ON check state machine states.

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 45 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 113 of file autopilot_arming_yaw.h.

References AP_ARMING_STATUS_ARMED, AP_ARMING_STATUS_DISARMING, AP_ARMING_STATUS_KILLED, AP_ARMING_STATUS_WAITING, AP_MODE_KILL, pprz_autopilot::arming_status, autopilot, autopilot_arming_check_valid(), autopilot_check_motor_status, autopilot_get_mode(), autopilot_motors_on_counter, autopilot_set_in_flight(), MOTOR_ARMING_DELAY, pprz_autopilot::motors_on, STATUS_INITIALISE_RC, STATUS_M_OFF_STICK_PUSHED, STATUS_M_ON_STICK_PUSHED, STATUS_MOTORS_AUTOMATICALLY_OFF, STATUS_MOTORS_AUTOMATICALLY_OFF_SAFETY_WAIT, STATUS_MOTORS_OFF, STATUS_MOTORS_ON, STATUS_START_MOTORS, STATUS_STOP_MOTORS, THROTTLE_STICK_DOWN, YAW_MUST_BE_CENTERED, YAW_MUST_BE_PUSHED, YAW_STICK_CENTERED, and YAW_STICK_PUSHED.