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Several fixes, hex flies, failsafe not really tested yet

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This commit is contained in:
Julian Oes
2012-11-11 11:55:27 -08:00
parent 0baca3ee31
commit a8dfcaace2
4 changed files with 55 additions and 36 deletions
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apps/px4io/mixer.c
+2 -1
View File
@@ -167,7 +167,8 @@ mixer_tick(void *arg)
/*
* Decide whether the servos should be armed right now.
*/
should_arm = system_state.armed && system_state.arm_ok && (control_count > 0);
should_arm = system_state.armed && system_state.arm_ok && (control_count > 0) && system_state.mixer_use_fmu;
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
up_pwm_servo_arm(true);
apps/px4io/safety.c
+31 -13
View File
@@ -56,18 +56,20 @@ static struct hrt_call arming_call;
* Count the number of times in a row that we see the arming button
* held down.
*/
static unsigned arm_counter;
#define ARM_COUNTER_THRESHOLD 10
static unsigned counter;
#define ARM_COUNTER_THRESHOLD 20
#define DISARM_COUNTER_THRESHOLD 2
static bool safety_led_state;
static bool safety_button_pressed;
static void safety_check_button(void *arg);
void
safety_init(void)
{
/* arrange for the button handler to be called at 10Hz */
hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL);
/* arrange for the button handler to be called at 20Hz */
hrt_call_every(&arming_call, 1000, 50000, safety_check_button, NULL);
}
static void
@@ -77,18 +79,34 @@ safety_check_button(void *arg)
* Debounce the safety button, change state if it has been held for long enough.
*
*/
safety_button_pressed = BUTTON_SAFETY;
if (BUTTON_SAFETY) {
if (arm_counter < ARM_COUNTER_THRESHOLD) {
arm_counter++;
} else if (arm_counter == ARM_COUNTER_THRESHOLD) {
/* change our armed state and notify the FMU */
system_state.armed = !system_state.armed;
arm_counter++;
if(safety_button_pressed) {
//printf("Pressed, Arm counter: %d, Disarm counter: %d\n", arm_counter, disarm_counter);
}
/* Keep pressed for a while to arm */
if (safety_button_pressed && !system_state.armed) {
if (counter < ARM_COUNTER_THRESHOLD) {
counter++;
} else if (counter == ARM_COUNTER_THRESHOLD) {
/* change to armed state and notify the FMU */
system_state.armed = true;
counter++;
system_state.fmu_report_due = true;
}
/* Disarm quickly */
} else if (safety_button_pressed && system_state.armed) {
if (counter < DISARM_COUNTER_THRESHOLD) {
counter++;
} else if (counter == DISARM_COUNTER_THRESHOLD) {
/* change to disarmed state and notify the FMU */
system_state.armed = false;
counter++;
system_state.fmu_report_due = true;
}
} else {
arm_counter = 0;
counter = 0;
}
/* when armed, toggle the LED; when safe, leave it on */