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https://github.com/paparazzi/paparazzi.git
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[rotorcraft] split arming code definition from autopilot (#2550)
the arming states are currently defined in autopilot_static.h, which is not compatible with the use of generated autopilot
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Gautier Hattenberger
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de22fb1c29
@@ -0,0 +1,47 @@
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/*
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* Copyright (C) 2020 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file firmwares/rotorcraft/autopilot_arming.h
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*
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* Arming procedure for rotorcraft
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* Several options can be selected:
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* - yaw stick
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* - switch position
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* - throttle stick
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*
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*/
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#ifndef AUTOPILOT_ARMING_H
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#define AUTOPILOT_ARMING_H
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/* Include arming procedure, yaw stick by default */
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#if USE_KILL_SWITCH_FOR_MOTOR_ARMING
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#include "autopilot_arming_switch.h"
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PRINT_CONFIG_MSG("Using kill switch for motor arming")
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#elif USE_THROTTLE_FOR_MOTOR_ARMING
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#include "autopilot_arming_throttle.h"
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PRINT_CONFIG_MSG("Using throttle for motor arming")
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#else
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#include "autopilot_arming_yaw.h"
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PRINT_CONFIG_MSG("Using 2 sec yaw for motor arming")
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#endif
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#endif /* AUTOPILOT_ARMING_H */
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@@ -0,0 +1,52 @@
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/*
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* Copyright (C) 2020 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file firmwares/rotorcraft/autopilot_arming_common.h
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*
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* Arming procedure for rotorcraft, common definitions
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*/
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#ifndef AUTOPILOT_ARMING_COMMON_H
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#define AUTOPILOT_ARMING_COMMON_H
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#include "autopilot_rc_helpers.h"
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/* Arming status*/
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#define AP_ARMING_STATUS_NO_RC 0
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#define AP_ARMING_STATUS_WAITING 1
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#define AP_ARMING_STATUS_ARMING 2
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#define AP_ARMING_STATUS_ARMED 3
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#define AP_ARMING_STATUS_DISARMING 4
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#define AP_ARMING_STATUS_KILLED 5
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#define AP_ARMING_STATUS_YAW_CENTERED 6
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#define AP_ARMING_STATUS_THROTTLE_DOWN 7
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#define AP_ARMING_STATUS_NOT_MODE_MANUAL 8
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#define AP_ARMING_STATUS_UNARMED_IN_AUTO 9
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#define AP_ARMING_STATUS_THROTTLE_NOT_DOWN 10
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#define AP_ARMING_STATUS_STICKS_NOT_CENTERED 11
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#define AP_ARMING_STATUS_PITCH_NOT_CENTERED 12
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#define AP_ARMING_STATUS_ROLL_NOT_CENTERED 13
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#define AP_ARMING_STATUS_YAW_NOT_CENTERED 14
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#define AP_ARMING_STATUS_AHRS_NOT_ALLIGNED 15
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#define AP_ARMING_STATUS_OUT_OF_GEOFENCE 16
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#define AP_ARMING_STATUS_LOW_BATTERY 17
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#endif /* AUTOPILOT_ARMING_COMMON_H */
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@@ -29,7 +29,7 @@
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#ifndef AUTOPILOT_ARMING_SWITCH_H
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#define AUTOPILOT_ARMING_SWITCH_H
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#include "autopilot_rc_helpers.h"
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#include "autopilot_arming_common.h"
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#ifndef RADIO_KILL_SWITCH
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#error "You need to have a RADIO_KILL_SWITCH configured to arm the motors with the switch!"
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@@ -29,7 +29,7 @@
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#ifndef AUTOPILOT_ARMING_THROTTLE_H
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#define AUTOPILOT_ARMING_THROTTLE_H
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#include "autopilot_rc_helpers.h"
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#include "autopilot_arming_common.h"
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#include "autopilot_firmware.h"
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#define AUTOPILOT_ARMING_DELAY 10
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@@ -29,7 +29,7 @@
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#ifndef AUTOPILOT_ARMING_YAW_H
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#define AUTOPILOT_ARMING_YAW_H
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#include "autopilot_rc_helpers.h"
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#include "autopilot_arming_common.h"
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#include "autopilot_firmware.h"
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#include "autopilot.h"
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@@ -28,6 +28,7 @@
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#include "firmwares/rotorcraft/autopilot_generated.h"
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#include "autopilot.h"
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#include "autopilot_arming.h"
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#include "subsystems/radio_control.h"
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#include "subsystems/commands.h"
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@@ -37,17 +38,6 @@
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#include "generated/settings.h"
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#if USE_KILL_SWITCH_FOR_MOTOR_ARMING
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#include "autopilot_arming_switch.h"
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PRINT_CONFIG_MSG("Using kill switch for motor arming")
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#elif USE_THROTTLE_FOR_MOTOR_ARMING
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#include "autopilot_arming_throttle.h"
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PRINT_CONFIG_MSG("Using throttle for motor arming")
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#else
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#include "autopilot_arming_yaw.h"
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PRINT_CONFIG_MSG("Using 2 sec yaw for motor arming")
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#endif
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void autopilot_generated_init(void)
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{
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@@ -28,6 +28,7 @@
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*/
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#include "autopilot.h"
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#include "autopilot_arming.h"
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#include "subsystems/radio_control.h"
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#include "subsystems/commands.h"
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@@ -45,7 +46,6 @@
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#include "firmwares/rotorcraft/stabilization/stabilization_rate.h"
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#endif
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#include "firmwares/rotorcraft/autopilot_rc_helpers.h"
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#include "firmwares/rotorcraft/autopilot_guided.h"
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#include "generated/settings.h"
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@@ -60,17 +60,6 @@
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#endif
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#endif
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#if USE_KILL_SWITCH_FOR_MOTOR_ARMING
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#include "autopilot_arming_switch.h"
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PRINT_CONFIG_MSG("Using kill switch for motor arming")
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#elif USE_THROTTLE_FOR_MOTOR_ARMING
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#include "autopilot_arming_throttle.h"
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PRINT_CONFIG_MSG("Using throttle for motor arming")
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#else
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#include "autopilot_arming_yaw.h"
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PRINT_CONFIG_MSG("Using 2 sec yaw for motor arming")
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#endif
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/* Geofence exceptions */
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#include "modules/nav/nav_geofence.h"
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@@ -54,26 +54,6 @@
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#define AP_MODE_GUIDED 19
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/* Arming status*/
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#define AP_ARMING_STATUS_NO_RC 0
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#define AP_ARMING_STATUS_WAITING 1
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#define AP_ARMING_STATUS_ARMING 2
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#define AP_ARMING_STATUS_ARMED 3
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#define AP_ARMING_STATUS_DISARMING 4
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#define AP_ARMING_STATUS_KILLED 5
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#define AP_ARMING_STATUS_YAW_CENTERED 6
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#define AP_ARMING_STATUS_THROTTLE_DOWN 7
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#define AP_ARMING_STATUS_NOT_MODE_MANUAL 8
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#define AP_ARMING_STATUS_UNARMED_IN_AUTO 9
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#define AP_ARMING_STATUS_THROTTLE_NOT_DOWN 10
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#define AP_ARMING_STATUS_STICKS_NOT_CENTERED 11
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#define AP_ARMING_STATUS_PITCH_NOT_CENTERED 12
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#define AP_ARMING_STATUS_ROLL_NOT_CENTERED 13
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#define AP_ARMING_STATUS_YAW_NOT_CENTERED 14
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#define AP_ARMING_STATUS_AHRS_NOT_ALLIGNED 15
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#define AP_ARMING_STATUS_OUT_OF_GEOFENCE 16
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#define AP_ARMING_STATUS_LOW_BATTERY 17
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/** Default RC mode.
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*/
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#ifndef MODE_MANUAL
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