autopilot_arming_throttle.h File Reference

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

#include "autopilot_rc_helpers.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_t motors_on)
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_t	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 34 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 36 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 74 of file autopilot_arming_throttle.h.

References AP_MODE_KILL, AUTOPILOT_ARMING_DELAY, autopilot_arming_delay_counter, autopilot_arming_state, autopilot_mode, autopilot_motors_on, autopilot_unarmed_in_auto, FALSE, MODE_MANUAL, rc_attitude_sticks_centered(), STATE_ARMING, STATE_MOTORS_OFF_READY, STATE_MOTORS_ON, STATE_UNARMING, STATE_UNINIT, STATE_WAITING, THROTTLE_STICK_DOWN, and TRUE.

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static void autopilot_arming_init ( void  )

inlinestatic

Definition at line 49 of file autopilot_arming_throttle.h.

References autopilot_arming_delay_counter, autopilot_arming_state, autopilot_unarmed_in_auto, FALSE, and STATE_UNINIT.

static void autopilot_arming_set ( bool_t  motors_on )

inlinestatic

Definition at line 56 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 46 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 45 of file autopilot_arming_throttle.h.

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

bool_t autopilot_unarmed_in_auto

Definition at line 47 of file autopilot_arming_throttle.h.

Referenced by autopilot_arming_check_motors_on(), and autopilot_arming_init().