// flash LEDs to notify the user that ESC calibration is happening
void Copter::esc_calibration_notify()
{
    AP_Notify::flags.esc_calibration = true;
    uint32_t now = AP_HAL::millis();
    if (now - esc_calibration_notify_update_ms > 20) {
        esc_calibration_notify_update_ms = now;
        update_notify();
    }
}
Example #2
0
void update_icon(void){
	E_RETURN is_wall_active;
	is_wall_active = torwall_client_status();
	if (is_wall_active == STATUS_RUNNING) {
		gtk_status_icon_set_from_icon_name(tray_icon, "torwallActive");
		update_notify(TOOL_ACTIVE, "torwallActive");
		gtk_status_icon_set_tooltip(tray_icon, 
				TOOL_ACTIVE);
		g_signal_handler_block(ch_toggle, ch_toggle_handler_id);
		gtk_check_menu_item_set_active(ch_toggle, 1);
		gtk_widget_set_sensitive((GtkWidget*)i_currentnode, 1);
		g_signal_handler_unblock(ch_toggle, ch_toggle_handler_id);
	} else {
		gtk_status_icon_set_from_icon_name(tray_icon, "torwallInactive");
		update_notify(TOOL_INACTIVE, "torwallInactive");
		gtk_status_icon_set_tooltip(tray_icon, 
				TOOL_INACTIVE);
		g_signal_handler_block(ch_toggle, ch_toggle_handler_id);
		gtk_check_menu_item_set_active(ch_toggle, 0);
		gtk_widget_set_sensitive((GtkWidget*)i_currentnode, 0);
		g_signal_handler_unblock(ch_toggle, ch_toggle_handler_id);
	}
}
Example #3
0
// esc_calibration_passthrough - pass through pilot throttle to escs
void Copter::esc_calibration_passthrough()
{
#if FRAME_CONFIG != HELI_FRAME
    // clear esc flag for next time
    g.esc_calibrate.set_and_save(ESCCAL_NONE);

    if (motors->get_pwm_type() >= AP_Motors::PWM_TYPE_ONESHOT) {
        // run at full speed for oneshot ESCs (actually done on push)
        motors->set_update_rate(g.rc_speed);
    } else {
        // reduce update rate to motors to 50Hz
        motors->set_update_rate(50);
    }

    // send message to GCS
    gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");

    // arm motors
    motors->armed(true);
    motors->enable();

    uint32_t last_notify_update_ms = 0;
    while(1) {
        // flash LEDS
        AP_Notify::flags.esc_calibration = true;
        uint32_t now = AP_HAL::millis();
        if (now - last_notify_update_ms > 20) {
            last_notify_update_ms = now;
            update_notify();
        }

        // read pilot input
        read_radio();

        // we run at high rate do make oneshot ESCs happy. Normal ESCs
        // will only see pulses at the RC_SPEED
        delay(3);

        // pass through to motors
        motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
    }
#endif  // FRAME_CONFIG != HELI_FRAME
}
// 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(MAV_SEVERITY_INFO, "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();

    // 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;
}
Example #5
0
// 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)
{
	// arming marker
    // Flag used to track if we have armed the motors the first time.
    // This is used to decide if we should run the ground_start routine
    // which calibrates the IMU
    static bool did_ground_start = false;
    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(SEVERITY_HIGH, 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.get_NavEKF().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(did_ground_start == false) {
        startup_ground(true);
        // final check that gyros calibrated successfully
        if (((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) && !ins.gyro_calibrated_ok_all()) {
            gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Gyro calibration failed"));
            AP_Notify::flags.armed = false;
            failsafe_enable();
            in_arm_motors = false;
            return false;
        }
        did_ground_start = true;
    }

    // check if we are using motor interlock control on an aux switch
    set_using_interlock(check_if_auxsw_mode_used(AUXSW_MOTOR_INTERLOCK));

    // 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(SEVERITY_HIGH,PSTR("Arm: Motor Interlock Enabled"));
        AP_Notify::flags.armed = 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(SEVERITY_HIGH,PSTR("Arm: Motor Emergency Stopped"));
        AP_Notify::flags.armed = 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;
}