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Code Issues Wiki Activity

Reworked arming conditions.

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This commit is contained in:
mikeller 2017-06-19 00:40:59 +12:00
parent fb0429597f
commit 31df82db2d
20 changed files with 149 additions and 107 deletions
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107
src/main/fc/fc_core.c
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@ -128,7 +128,7 @@ void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsD
saveConfigAndNotify();
}
bool isCalibrating()
static bool isCalibrating()
{
#ifdef BARO
if (sensors(SENSOR_BARO) && !isBaroCalibrationComplete()) {
@ -141,35 +141,52 @@ bool isCalibrating()
return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
}
void updateLEDs(void)
void updateArmingStatus(void)
{
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {
if (IS_RC_MODE_ACTIVE(BOXARM) == 0 || armingCalibrationWasInitialised) {
ENABLE_ARMING_FLAG(OK_TO_ARM);
if (IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
setArmingDisabled(ARMING_DISABLED_BOXFAILSAFE);
} else {
unsetArmingDisabled(ARMING_DISABLED_BOXFAILSAFE);
}
if (calculateThrottleStatus() != THROTTLE_LOW) {
setArmingDisabled(ARMING_DISABLED_THROTTLE);
} else {
unsetArmingDisabled(ARMING_DISABLED_THROTTLE);
}
if (!STATE(SMALL_ANGLE)) {
DISABLE_ARMING_FLAG(OK_TO_ARM);
setArmingDisabled(ARMING_DISABLED_ANGLE);
} else {
unsetArmingDisabled(ARMING_DISABLED_ANGLE);
}
if (isCalibrating() || (averageSystemLoadPercent > 100)) {
warningLedFlash();
DISABLE_ARMING_FLAG(OK_TO_ARM);
if (averageSystemLoadPercent > 100) {
setArmingDisabled(ARMING_DISABLED_LOAD);
} else {
if (ARMING_FLAG(OK_TO_ARM)) {
warningLedDisable();
} else {
warningLedFlash();
}
unsetArmingDisabled(ARMING_DISABLED_LOAD);
}
if (isCalibrating()) {
setArmingDisabled(ARMING_DISABLED_CALIBRATING);
} else {
unsetArmingDisabled(ARMING_DISABLED_CALIBRATING);
}
if (isArmingDisabled()) {
warningLedFlash();
} else {
warningLedDisable();
}
warningLedUpdate();
}
}
void mwDisarm(void)
void disarm(void)
{
armingCalibrationWasInitialised = false;
@ -186,7 +203,7 @@ void mwDisarm(void)
}
}
void mwArm(void)
void tryArm(void)
{
static bool firstArmingCalibrationWasCompleted;
@ -196,51 +213,47 @@ void mwArm(void)
firstArmingCalibrationWasCompleted = true;
}
if (!isGyroCalibrationComplete()) return; // prevent arming before gyro is calibrated
updateArmingStatus();
if (ARMING_FLAG(OK_TO_ARM)) {
if (!isArmingDisabled()) {
if (ARMING_FLAG(ARMED)) {
return;
}
if (IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
return;
}
if (!ARMING_FLAG(PREVENT_ARMING)) {
#ifdef USE_DSHOT
if (!feature(FEATURE_3D)) {
//TODO: Use BOXDSHOTREVERSE here
if (!IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
reverseMotors = false;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
}
} else {
reverseMotors = true;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
if (!feature(FEATURE_3D)) {
//TODO: Use BOXDSHOTREVERSE here
if (!IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
reverseMotors = false;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
}
} else {
reverseMotors = true;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
}
}
#endif
ENABLE_ARMING_FLAG(ARMED);
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
ENABLE_ARMING_FLAG(ARMED);
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
//beep to indicate arming
//beep to indicate arming
#ifdef GPS
if (feature(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5)
beeper(BEEPER_ARMING_GPS_FIX);
else
beeper(BEEPER_ARMING);
#else
if (feature(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5) {
beeper(BEEPER_ARMING_GPS_FIX);
} else {
beeper(BEEPER_ARMING);
}
#else
beeper(BEEPER_ARMING);
#endif
return;
}
return;
}
if (!ARMING_FLAG(ARMED)) {
@ -315,7 +328,7 @@ void processRx(timeUs_t currentTimeUs)
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
mwDisarm();
disarm();
}
updateRSSI(currentTimeUs);
@ -364,7 +377,7 @@ void processRx(timeUs_t currentTimeUs)
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
mwDisarm();
disarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed