// 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();
}
}
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);
}
}
// 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;
}
// 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;
}
