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auto-disarm implementation, slight rewrite of HFMan commit 931478054e70cd6a51916ea9430f041f61b7f7ba

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Added automatic disarm after 5 seconds when feature MOTOR_STOP is enabled (has no effect on
FIXED_WING configurations.)  Users that don't have a buzzer to warn when
board is armed and use feature MOTOR_STOP can forget to disarm the
board. For example after landing they pick up copter and then
accidentally move throttle up when trying to remove flight battery.

Configurable via CLI using 'set auto_disarm_board=x' where x is 0-60
seconds.  If zero, does not auto_disarm.
This commit is contained in:
Petr Ledvina 2014-12-22 14:39:50 +01:00
parent bebf43d568
commit eea8f90595
4 changed files with 18 additions and 0 deletions
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15
src/main/mw.c
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@ -91,6 +91,7 @@ uint16_t cycleTime = 0; // this is the number in micro second to achieve
int16_t headFreeModeHold;
int16_t telemTemperature1; // gyro sensor temperature
static uint32_t disarmTime; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
extern uint8_t dynP8[3], dynI8[3], dynD8[3];
extern failsafe_t *failsafe;
@ -326,6 +327,8 @@ void mwArm(void)
}
}
#endif
disarmTime = millis() + masterConfig.auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
return;
}
}
@ -493,6 +496,18 @@ void processRx(void)
resetErrorAngle();
resetErrorGyro();
}
// When armed and motors aren't spinning, disarm board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING)
&& masterConfig.auto_disarm_delay != 0) {
if (throttleStatus == THROTTLE_LOW) {
if ((int32_t)(disarmTime - millis()) < 0) // delay is over
mwDisarm();
} else {
disarmTime = millis() + masterConfig.auto_disarm_delay * 1000; // extend delay
}
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);