// init_aux_switch_function - initialize aux functions
void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
{
// init channel options
switch(ch_option) {
case AUXSW_SIMPLE_MODE:
case AUXSW_SONAR:
case AUXSW_FENCE:
case AUXSW_RESETTOARMEDYAW:
case AUXSW_SUPERSIMPLE_MODE:
case AUXSW_ACRO_TRAINER:
case AUXSW_EPM:
case AUXSW_SPRAYER:
case AUXSW_PARACHUTE_ENABLE:
case AUXSW_PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
case AUXSW_RETRACT_MOUNT:
case AUXSW_MISSION_RESET:
case AUXSW_ATTCON_FEEDFWD:
case AUXSW_ATTCON_ACCEL_LIM:
case AUXSW_RELAY:
case AUXSW_LANDING_GEAR:
case AUXSW_MOTOR_ESTOP:
do_aux_switch_function(ch_option, ch_flag);
break;
case AUXSW_MOTOR_INTERLOCK:
set_using_interlock(check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK));
do_aux_switch_function(ch_option, ch_flag);
break;
}
}
// heli_init - perform any special initialisation required for the tradheli
void Copter::heli_init()
{
// helicopters are always using motor interlock
set_using_interlock(true);
/*
automatically set H_RSC_MIN and H_RSC_MAX from RC8_MIN and
RC8_MAX so that when users upgrade from tradheli version 3.3 to
3.4 they get the same throttle range as in previous versions of
the code
*/
if (!g.heli_servo_rsc.radio_min.configured()) {
g.heli_servo_rsc.radio_min.set_and_save(g.rc_8.radio_min.get());
}
if (!g.heli_servo_rsc.radio_max.configured()) {
g.heli_servo_rsc.radio_max.set_and_save(g.rc_8.radio_max.get());
}
}
// one_hz_loop - runs at 1Hz
void Copter::one_hz_loop()
{
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
}
// perform pre-arm checks & display failures every 30 seconds
static uint8_t pre_arm_display_counter = 15;
pre_arm_display_counter++;
if (pre_arm_display_counter >= 30) {
pre_arm_checks(true);
pre_arm_display_counter = 0;
}else{
pre_arm_checks(false);
}
// auto disarm checks
auto_disarm_check();
if (!motors.armed()) {
// make it possible to change ahrs orientation at runtime during initial config
ahrs.set_orientation();
#if FRAME_CONFIG == HELI_FRAME
// helicopters are always using motor interlock
set_using_interlock(true);
#else
// check the user hasn't updated the frame orientation
motors.set_frame_orientation(g.frame_orientation);
// check if we are using motor interlock control on an aux switch
set_using_interlock(check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK));
// set all throttle channel settings
motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
// set hover throttle
motors.set_hover_throttle(g.throttle_mid);
#endif
}
// update assigned functions and enable auxiliar servos
RC_Channel_aux::enable_aux_servos();
check_usb_mux();
#if AP_TERRAIN_AVAILABLE
terrain.update();
// tell the rangefinder our height, so it can go into power saving
// mode if available
#if CONFIG_SONAR == ENABLED
float height;
if (terrain.height_above_terrain(height, true)) {
sonar.set_estimated_terrain_height(height);
}
#endif
#endif
// update position controller alt limits
update_poscon_alt_max();
// enable/disable raw gyro/accel logging
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
}
// perform pre-arm checks and set ap.pre_arm_check flag
// return true if the checks pass successfully
bool Copter::pre_arm_checks(bool display_failure)
{
// exit immediately if already armed
if (motors.armed()) {
return true;
}
// check if motor interlock and Emergency Stop aux switches are used
// at the same time. This cannot be allowed.
if (check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK) && check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Interlock/E-Stop Conflict"));
}
return false;
}
// check if motor interlock aux switch is in use
// if it is, switch needs to be in disabled position to arm
// otherwise exit immediately. This check to be repeated,
// as state can change at any time.
set_using_interlock(check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK));
if (ap.using_interlock && motors.get_interlock()){
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Motor Interlock Enabled"));
}
return false;
}
// if we are using Motor Emergency Stop aux switch, check it is not enabled
// and warn if it is
if (check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && ap.motor_emergency_stop){
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Motor Emergency Stopped"));
}
return false;
}
// exit immediately if we've already successfully performed the pre-arm check
if (ap.pre_arm_check) {
// run gps checks because results may change and affect LED colour
// no need to display failures because arm_checks will do that if the pilot tries to arm
pre_arm_gps_checks(false);
return true;
}
// succeed if pre arm checks are disabled
if(g.arming_check == ARMING_CHECK_NONE) {
set_pre_arm_check(true);
set_pre_arm_rc_check(true);
return true;
}
// pre-arm rc checks a prerequisite
pre_arm_rc_checks();
if(!ap.pre_arm_rc_check) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: RC not calibrated"));
}
return false;
}
// check Baro
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
// barometer health check
if(!barometer.all_healthy()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Barometer not healthy"));
}
return false;
}
// Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
// Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
// that may differ from the baro height due to baro drift.
nav_filter_status filt_status = inertial_nav.get_filter_status();
bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
if (using_baro_ref) {
if (fabsf(inertial_nav.get_altitude() - baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Altitude disparity"));
}
return false;
}
}
}
// check Compass
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) {
// check the primary compass is healthy
if(!compass.healthy()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass not healthy"));
}
return false;
}
// check compass learning is on or offsets have been set
if(!compass.configured()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass not calibrated"));
}
return false;
}
// check for unreasonable compass offsets
Vector3f offsets = compass.get_offsets();
if(offsets.length() > COMPASS_OFFSETS_MAX) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass offsets too high"));
}
return false;
}
// check for unreasonable mag field length
float mag_field = compass.get_field().length();
if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check mag field"));
}
return false;
}
// check all compasses point in roughly same direction
if (!compass.consistent()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: inconsistent compasses"));
}
return false;
}
}
// check GPS
if (!pre_arm_gps_checks(display_failure)) {
return false;
}
#if AC_FENCE == ENABLED
// check fence is initialised
if(!fence.pre_arm_check()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: check fence"));
}
return false;
}
#endif
// check INS
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
// check accelerometers have been calibrated
if(!ins.accel_calibrated_ok_all()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Accels not calibrated"));
}
return false;
}
// check accels are healthy
if(!ins.get_accel_health_all()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Accelerometers not healthy"));
}
return false;
}
// check all accelerometers point in roughly same direction
if (ins.get_accel_count() > 1) {
const Vector3f &prime_accel_vec = ins.get_accel();
for(uint8_t i=0; i<ins.get_accel_count(); i++) {
// get next accel vector
const Vector3f &accel_vec = ins.get_accel(i);
Vector3f vec_diff = accel_vec - prime_accel_vec;
float threshold = PREARM_MAX_ACCEL_VECTOR_DIFF;
if (i >= 2) {
/*
for boards with 3 IMUs we only use the first two
in the EKF. Allow for larger accel discrepancy
for IMU3 as it may be running at a different temperature
*/
threshold *= 2;
}
if (vec_diff.length() > threshold) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: inconsistent Accelerometers"));
}
return false;
}
}
}
// check gyros are healthy
if(!ins.get_gyro_health_all()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Gyros not healthy"));
}
return false;
}
// check all gyros are consistent
if (ins.get_gyro_count() > 1) {
for(uint8_t i=0; i<ins.get_gyro_count(); i++) {
// get rotation rate difference between gyro #i and primary gyro
Vector3f vec_diff = ins.get_gyro(i) - ins.get_gyro();
if (vec_diff.length() > PREARM_MAX_GYRO_VECTOR_DIFF) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: inconsistent Gyros"));
}
return false;
}
}
}
// get ekf attitude (if bad, it's usually the gyro biases)
if (!pre_arm_ekf_attitude_check()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: gyros still settling"));
}
return false;
}
}
#if CONFIG_HAL_BOARD != HAL_BOARD_VRBRAIN
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
// check board voltage
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if(hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check Board Voltage"));
}
return false;
}
}
#endif
#endif
// check battery voltage
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_VOLTAGE)) {
if (failsafe.battery || (!ap.usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah))) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check Battery"));
}
return false;
}
}
// check various parameter values
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_PARAMETERS)) {
// ensure ch7 and ch8 have different functions
if (check_duplicate_auxsw()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Duplicate Aux Switch Options"));
}
return false;
}
// failsafe parameter checks
if (g.failsafe_throttle) {
// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
if (channel_throttle->radio_min <= g.failsafe_throttle_value+10 || g.failsafe_throttle_value < 910) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check FS_THR_VALUE"));
}
return false;
}
}
// lean angle parameter check
if (aparm.angle_max < 1000 || aparm.angle_max > 8000) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check ANGLE_MAX"));
}
return false;
}
// acro balance parameter check
if ((g.acro_balance_roll > g.p_stabilize_roll.kP()) || (g.acro_balance_pitch > g.p_stabilize_pitch.kP())) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: ACRO_BAL_ROLL/PITCH"));
}
return false;
}
#if CONFIG_SONAR == ENABLED && OPTFLOW == ENABLED
// check range finder if optflow enabled
if (optflow.enabled() && !sonar.pre_arm_check()) {
if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: check range finder"));
}
return false;
}
#endif
#if FRAME_CONFIG == HELI_FRAME
// check helicopter parameters
if (!motors.parameter_check(display_failure)) {
return false;
}
#endif // HELI_FRAME
}
// check throttle is above failsafe throttle
// this is near the bottom to allow other failures to be displayed before checking pilot throttle
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_RC)) {
if (g.failsafe_throttle != FS_THR_DISABLED && channel_throttle->radio_in < g.failsafe_throttle_value) {
if (display_failure) {
#if FRAME_CONFIG == HELI_FRAME
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Collective below Failsafe"));
#else
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Throttle below Failsafe"));
#endif
}
return false;
}
}
// if we've gotten this far then pre arm checks have completed
set_pre_arm_check(true);
return true;
}
// init_arm_motors - performs arming process including initialisation of barometer and gyros
// returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
bool Copter::init_arm_motors(bool arming_from_gcs)
{
static bool in_arm_motors = false;
// exit immediately if already in this function
if (in_arm_motors) {
return false;
}
in_arm_motors = true;
// run pre-arm-checks and display failures
if(!pre_arm_checks(true) || !arm_checks(true, arming_from_gcs)) {
AP_Notify::events.arming_failed = true;
in_arm_motors = false;
return false;
}
// disable cpu failsafe because initialising everything takes a while
failsafe_disable();
// reset battery failsafe
set_failsafe_battery(false);
// notify that arming will occur (we do this early to give plenty of warning)
AP_Notify::flags.armed = true;
// call update_notify a few times to ensure the message gets out
for (uint8_t i=0; i<=10; i++) {
update_notify();
}
#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("ARMING MOTORS"));
#endif
// Remember Orientation
// --------------------
init_simple_bearing();
initial_armed_bearing = ahrs.yaw_sensor;
if (ap.home_state == HOME_UNSET) {
// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
ahrs.resetHeightDatum();
Log_Write_Event(DATA_EKF_ALT_RESET);
} else if (ap.home_state == HOME_SET_NOT_LOCKED) {
// Reset home position if it has already been set before (but not locked)
set_home_to_current_location();
}
calc_distance_and_bearing();
#if FRAME_CONFIG == HELI_FRAME
// helicopters are always using motor interlock
set_using_interlock(true);
#else
// check if we are using motor interlock control on an aux switch
set_using_interlock(check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK));
#endif
// if we are using motor interlock switch and it's enabled, fail to arm
if (ap.using_interlock && motors.get_interlock()){
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Motor Interlock Enabled"));
AP_Notify::flags.armed = false;
in_arm_motors = false;
return false;
}
// if we are not using Emergency Stop switch option, force Estop false to ensure motors
// can run normally
if (!check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP)){
set_motor_emergency_stop(false);
// if we are using motor Estop switch, it must not be in Estop position
} else if (check_if_auxsw_mode_used(AUXSW_MOTOR_ESTOP) && ap.motor_emergency_stop){
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Motor Emergency Stopped"));
AP_Notify::flags.armed = false;
in_arm_motors = false;
return false;
}
// enable gps velocity based centrefugal force compensation
ahrs.set_correct_centrifugal(true);
hal.util->set_soft_armed(true);
#if SPRAYER == ENABLED
// turn off sprayer's test if on
sprayer.test_pump(false);
#endif
// short delay to allow reading of rc inputs
delay(30);
// enable output to motors
enable_motor_output();
// finally actually arm the motors
motors.armed(true);
// log arming to dataflash
Log_Write_Event(DATA_ARMED);
// log flight mode in case it was changed while vehicle was disarmed
DataFlash.Log_Write_Mode(control_mode);
// reenable failsafe
failsafe_enable();
// perf monitor ignores delay due to arming
perf_ignore_this_loop();
// flag exiting this function
in_arm_motors = false;
// return success
return true;
}
// heli_init - perform any special initialisation required for the tradheli
void Copter::heli_init()
{
// helicopters are always using motor interlock
set_using_interlock(true);
}