/**
* @brief Handler to interprete Command inputs in regards to arming/disarming
* @input: ManualControlCommand, AccessoryDesired
* @output: FlightStatus.Arming
*/
void armHandler(bool newinit)
{
static ArmState_t armState;
if (newinit) {
AccessoryDesiredInitialize();
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
armState = ARM_STATE_DISARMED;
}
portTickType sysTime = xTaskGetTickCount();
FlightModeSettingsData settings;
FlightModeSettingsGet(&settings);
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
AccessoryDesiredData acc;
bool lowThrottle = cmd.Throttle < 0;
bool armSwitch = false;
switch (settings.Arming) {
case FLIGHTMODESETTINGS_ARMING_ACCESSORY0:
AccessoryDesiredInstGet(0, &acc);
armSwitch = true;
break;
case FLIGHTMODESETTINGS_ARMING_ACCESSORY1:
AccessoryDesiredInstGet(1, &acc);
armSwitch = true;
break;
case FLIGHTMODESETTINGS_ARMING_ACCESSORY2:
AccessoryDesiredInstGet(2, &acc);
armSwitch = true;
break;
default:
break;
}
// immediate disarm on switch
if (armSwitch && acc.AccessoryVal <= -ARMED_THRESHOLD) {
lowThrottle = true;
}
if (forcedDisArm()) {
// PathPlanner forces explicit disarming due to error condition (crash, impact, fire, ...)
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
return;
}
if (settings.Arming == FLIGHTMODESETTINGS_ARMING_ALWAYSDISARMED) {
// In this configuration we always disarm
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
return;
}
// The throttle is not low, in case we where arming or disarming, abort
if (!lowThrottle) {
switch (armState) {
case ARM_STATE_DISARMING_MANUAL:
case ARM_STATE_DISARMING_TIMEOUT:
armState = ARM_STATE_ARMED;
break;
case ARM_STATE_ARMING_MANUAL:
armState = ARM_STATE_DISARMED;
break;
default:
// Nothing needs to be done in the other states
break;
}
return;
}
// The rest of these cases throttle is low
if (settings.Arming == FLIGHTMODESETTINGS_ARMING_ALWAYSARMED) {
// In this configuration, we go into armed state as soon as the throttle is low, never disarm
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
return;
}
// When the configuration is not "Always armed" and no "Always disarmed",
// the state will not be changed when the throttle is not low
static portTickType armedDisarmStart;
float armingInputLevel = 0;
// Calc channel see assumptions7
switch (settings.Arming) {
case FLIGHTMODESETTINGS_ARMING_ROLLLEFT:
armingInputLevel = 1.0f * cmd.Roll;
break;
case FLIGHTMODESETTINGS_ARMING_ROLLRIGHT:
armingInputLevel = -1.0f * cmd.Roll;
break;
case FLIGHTMODESETTINGS_ARMING_PITCHFORWARD:
armingInputLevel = 1.0f * cmd.Pitch;
break;
case FLIGHTMODESETTINGS_ARMING_PITCHAFT:
armingInputLevel = -1.0f * cmd.Pitch;
break;
case FLIGHTMODESETTINGS_ARMING_YAWLEFT:
armingInputLevel = 1.0f * cmd.Yaw;
break;
case FLIGHTMODESETTINGS_ARMING_YAWRIGHT:
armingInputLevel = -1.0f * cmd.Yaw;
break;
case FLIGHTMODESETTINGS_ARMING_ACCESSORY0:
case FLIGHTMODESETTINGS_ARMING_ACCESSORY1:
case FLIGHTMODESETTINGS_ARMING_ACCESSORY2:
armingInputLevel = -1.0f * acc.AccessoryVal;
break;
}
bool manualArm = false;
bool manualDisarm = false;
if (armingInputLevel <= -ARMED_THRESHOLD) {
manualArm = true;
} else if (armingInputLevel >= +ARMED_THRESHOLD) {
manualDisarm = true;
}
switch (armState) {
case ARM_STATE_DISARMED:
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
// only allow arming if it's OK too
if (manualArm && okToArm()) {
armedDisarmStart = sysTime;
armState = ARM_STATE_ARMING_MANUAL;
}
break;
case ARM_STATE_ARMING_MANUAL:
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING);
if (manualArm && (timeDifferenceMs(armedDisarmStart, sysTime) > settings.ArmingSequenceTime)) {
armState = ARM_STATE_ARMED;
} else if (!manualArm) {
armState = ARM_STATE_DISARMED;
}
break;
case ARM_STATE_ARMED:
// When we get here, the throttle is low,
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
armedDisarmStart = sysTime;
armState = ARM_STATE_DISARMING_TIMEOUT;
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
break;
case ARM_STATE_DISARMING_TIMEOUT:
{
// we should never reach the disarming timeout if the pathfollower is engaged - reset timeout
FlightStatusControlChainData cc;
FlightStatusControlChainGet(&cc);
if (cc.PathFollower == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
armedDisarmStart = sysTime;
}
}
// We get here when armed while throttle low, even when the arming timeout is not enabled
if ((settings.ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, sysTime) > settings.ArmedTimeout)) {
armState = ARM_STATE_DISARMED;
}
// Switch to disarming due to manual control when needed
if (manualDisarm) {
armedDisarmStart = sysTime;
armState = ARM_STATE_DISARMING_MANUAL;
}
break;
case ARM_STATE_DISARMING_MANUAL:
// arming switch disarms immediately,
if (manualDisarm && (timeDifferenceMs(armedDisarmStart, sysTime) > settings.DisarmingSequenceTime)) {
armState = ARM_STATE_DISARMED;
} else if (!manualDisarm) {
armState = ARM_STATE_ARMED;
}
break;
} // End Switch
}
/**
* @brief Handler to control Stabilized flightmodes. FlightControl is governed by "Stabilization"
* @input: ManualControlCommand
* @output: StabilizationDesired
*/
void stabilizedHandler(bool newinit)
{
if (newinit) {
StabilizationDesiredInitialize();
StabilizationBankInitialize();
}
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
FlightModeSettingsData settings;
FlightModeSettingsGet(&settings);
StabilizationDesiredData stabilization;
StabilizationDesiredGet(&stabilization);
StabilizationBankData stabSettings;
StabilizationBankGet(&stabSettings);
cmd.Roll = applyExpo(cmd.Roll, stabSettings.StickExpo.Roll);
cmd.Pitch = applyExpo(cmd.Pitch, stabSettings.StickExpo.Pitch);
cmd.Yaw = applyExpo(cmd.Yaw, stabSettings.StickExpo.Yaw);
uint8_t *stab_settings;
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
switch (flightStatus.FlightMode) {
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
stab_settings = FlightModeSettingsStabilization1SettingsToArray(settings.Stabilization1Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
stab_settings = FlightModeSettingsStabilization2SettingsToArray(settings.Stabilization2Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
stab_settings = FlightModeSettingsStabilization3SettingsToArray(settings.Stabilization3Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
stab_settings = FlightModeSettingsStabilization4SettingsToArray(settings.Stabilization4Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
stab_settings = FlightModeSettingsStabilization5SettingsToArray(settings.Stabilization5Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
stab_settings = FlightModeSettingsStabilization6SettingsToArray(settings.Stabilization6Settings);
break;
default:
// Major error, this should not occur because only enter this block when one of these is true
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
stab_settings = FlightModeSettingsStabilization1SettingsToArray(settings.Stabilization1Settings);
return;
}
stabilization.Roll =
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Roll * stabSettings.RollMax :
0; // this is an invalid mode
stabilization.Pitch =
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
0; // this is an invalid mode
// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
stabilization.StabilizationMode.Roll = stab_settings[0];
stabilization.StabilizationMode.Pitch = stab_settings[1];
// Other axes (yaw) cannot be Rattitude, so use Rate
// Should really do this for Attitude mode as well?
if (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) {
stabilization.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabilization.Yaw = cmd.Yaw * stabSettings.ManualRate.Yaw;
} else {
stabilization.StabilizationMode.Yaw = stab_settings[2];
stabilization.Yaw =
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
0; // this is an invalid mode
}
stabilization.StabilizationMode.Thrust = stab_settings[3];
stabilization.Thrust = cmd.Thrust;
StabilizationDesiredSet(&stabilization);
}