/*
check for driver input on rudder/steering stick for arming/disarming
*/
void Rover::rudder_arm_disarm_check()
{
// In Rover we need to check that its set to the throttle trim and within the DZ
// if throttle is not within trim dz, then pilot cannot rudder arm/disarm
if (!channel_throttle->in_trim_dz()) {
rudder_arm_timer = 0;
return;
}
// if not in a manual throttle mode then disallow rudder arming/disarming
if (control_mode->auto_throttle()) {
rudder_arm_timer = 0;
return;
}
if (!arming.is_armed()) {
// when not armed, full right rudder starts arming counter
if (channel_steer->get_control_in() > 4000) {
const uint32_t now = millis();
if (rudder_arm_timer == 0 ||
now - rudder_arm_timer < 3000) {
if (rudder_arm_timer == 0) {
rudder_arm_timer = now;
}
} else {
// time to arm!
arm_motors(AP_Arming::RUDDER);
rudder_arm_timer = 0;
}
} else {
// not at full right rudder
rudder_arm_timer = 0;
}
} else if (!motor_active() & !g2.motors.have_skid_steering()) {
// when armed and motor not active (not moving), full left rudder starts disarming counter
// This is disabled for skid steering otherwise when tring to turn a skid steering rover around
// the rover would disarm
if (channel_steer->get_control_in() < -4000) {
const uint32_t now = millis();
if (rudder_arm_timer == 0 ||
now - rudder_arm_timer < 3000) {
if (rudder_arm_timer == 0) {
rudder_arm_timer = now;
}
} else {
// time to disarm!
disarm_motors();
rudder_arm_timer = 0;
}
} else {
// not at full left rudder
rudder_arm_timer = 0;
}
}
}
/*
check for driver input on rudder/steering stick for arming/disarming
*/
void Rover::rudder_arm_disarm_check()
{
// In Rover we need to check that its set to the throttle trim and within the DZ
// if throttle is not within trim dz, then pilot cannot rudder arm/disarm
if (!channel_throttle->in_trim_dz()) {
rudder_arm_timer = 0;
return;
}
// check if arming/disarming allowed from this mode
if (!control_mode->allows_arming_from_transmitter()) {
rudder_arm_timer = 0;
return;
}
if (!arming.is_armed()) {
// when not armed, full right rudder starts arming counter
if (channel_steer->get_control_in() > 4000) {
const uint32_t now = millis();
if (rudder_arm_timer == 0 ||
now - rudder_arm_timer < ARM_DELAY_MS) {
if (rudder_arm_timer == 0) {
rudder_arm_timer = now;
}
} else {
// time to arm!
arm_motors(AP_Arming::RUDDER);
rudder_arm_timer = 0;
}
} else {
// not at full right rudder
rudder_arm_timer = 0;
}
} else if (!motor_active()) {
// when armed and motor not active (not moving), full left rudder starts disarming counter
if (channel_steer->get_control_in() < -4000) {
const uint32_t now = millis();
if (rudder_arm_timer == 0 ||
now - rudder_arm_timer < ARM_DELAY_MS) {
if (rudder_arm_timer == 0) {
rudder_arm_timer = now;
}
} else {
// time to disarm!
disarm_motors();
rudder_arm_timer = 0;
}
} else {
// not at full left rudder
rudder_arm_timer = 0;
}
}
}
/*
update AP_Stats
*/
void Rover::stats_update(void)
{
g2.stats.set_flying(motor_active());
g2.stats.update();
}
