Paparazzi UAS  v5.8.2_stable-0-g6260b7c
Paparazzi is a free software Unmanned Aircraft System.
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autopilot_arming_switch.h
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2  * Copyright (C) 2012 The Paparazzi Team
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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)
49 {
52 }
53 
54 static inline void autopilot_arming_set(bool_t motors_on)
55 {
56  if (motors_on) {
58  } else {
61  /* if turned off in an AUTO mode, remember it so it can be turned on again in AUTO */
65  } else {
67  }
68  }
69  }
70 }
71 
79 static inline void autopilot_arming_check_motors_on(void)
80 {
81  switch (autopilot_arming_state) {
82  case STATE_UNINIT:
84  if (kill_switch_is_on()) {
86  } else {
88  }
89  break;
90  case STATE_WAITING:
92  if (kill_switch_is_on()) {
94  }
95  break;
96  case STATE_STARTABLE:
98  /* don't allow to start if in KILL mode or kill switch is on */
100  break;
101  }
105  }
106  break;
107  case STATE_MOTORS_ON:
108  if (kill_switch_is_on()) {
109  /* kill motors, go to startable state */
112  /* if turned off in an AUTO mode, remember it so it can be turned on again in AUTO */
116  } else {
118  }
119  } else {
121  }
122  break;
123  default:
124  break;
125  }
126 
127 }
128 
129 #endif /* AUTOPILOT_ARMING_SWITCH_H */
#define AP_MODE_KILL
Definition: autopilot.h:36
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:65
bool_t autopilot_unarmed_in_auto
bool_t autopilot_motors_on
Definition: autopilot.c:72
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: std.h:5
#define TRUE
Definition: std.h:4
static void autopilot_arming_init(void)
Some helper functions to check RC sticks.
#define AP_MODE_FAILSAFE
Definition: autopilot.h:37
#define MODE_MANUAL
Default RC mode.
Definition: autopilot.h:81