解锁检测函数是arm_motors_check(),作为scheduler每秒运行10此,定义在motors.cpp中,定义如下
#define ARM_DELAY 20 // called at 10hz so 2 seconds
#define DISARM_DELAY 20 // called at 10hz so 2 seconds
#define AUTO_TRIM_DELAY 100 // called at 10hz so 10 seconds
#define LOST_VEHICLE_DELAY 10 // called at 10hz so 1 second
static uint8_t auto_disarming_counter;
// arm_motors_check - checks for pilot input to arm or disarm the copter
// called at 10hz
void Copter::arm_motors_check()
{
static int16_t arming_counter;
// ensure throttle is down
if (channel_throttle->control_in > 0) {
arming_counter = 0;
return;
}
int16_t tmp = channel_yaw->control_in;
// full right
if (tmp > 4000) {
// increase the arming counter to a maximum of 1 beyond the auto trim counter
if( arming_counter <= AUTO_TRIM_DELAY ) {
arming_counter++;
}
// arm the motors and configure for flight
if (arming_counter == ARM_DELAY && !motors.armed()) {
// reset arming counter if arming fail
if (!init_arm_motors(false)) {
arming_counter = 0;
}
}
// arm the motors and configure for flight
if (arming_counter == AUTO_TRIM_DELAY && motors.armed() && control_mode == STABILIZE) {
auto_trim_counter = 250;
// ensure auto-disarm doesn't trigger immediately
auto_disarming_counter = 0;
}
// full left
}else if (tmp < -4000) {
if (!mode_has_manual_throttle(control_mode) && !ap.land_complete) {
arming_counter = 0;
return;
}
// increase the counter to a maximum of 1 beyond the disarm delay
if( arming_counter <= DISARM_DELAY ) {
arming_counter++;
}
// disarm the motors
if (arming_counter == DISARM_DELAY && motors.armed()) {
init_disarm_motors();
}
// Yaw is centered so reset arming counter
}else{
arming_counter = 0;
}
}
函数释义:
定义静态变量arming_counter,做计数器用;
如果油门输入大于0,则不进行解锁操作,arming_counter置0,直接返回;
将航向角控制通道的值赋给临时变量tmp,这个值是经过pwm转成的角度值,在-4500到4500之间;
如果tmp大于4000,即航向杆打到右侧:
如果计数器arming_counter小于等于AUTO_TRIM_DELAY(100),
则arming_counter++;
判断计数器arming_counter等于ARM_DELAY(20),同时motors.armed()的值为0,即disarm状态,
则调用init_arm_motors,进行arm操作,
如果arm失败,即init_arm_motors返回0,
则将arming_counter置为0;
如果计数器arming_counter等于AUTO_TRIM_DELAY(100),同时motors.armed()的值为1,及ARMED状态,同时当前控制模式为姿态模式
则 auto_trim_counter = 250;
auto_disarming_counter = 0;
如果tmp小于-4000,即航向杆打到左侧:
如果mode_has_manual_throttle返回0,同时ap.land_complete也为0,(即当前飞控模式不是手动油门,即不是ACRO和STABILIZE模式,同时没有检测到land)
则arming_counter=0,并立即返回;
如果arming_counter小于等于DISARM_DELAY(20),
则arming_counter++;
如果arming_counter等于DISARM_DELAY(20)同时motors.armed()返回1,即是ARMED状态:
则执行init_disarm_motors()函数,进行解锁操作
如果tmp既不大于4000,也不小于-4000,即在-4000到4000之间:
则arming_counter=0;
本文内容由网友自发贡献,版权归原作者所有,本站不承担相应法律责任。如您发现有涉嫌抄袭侵权的内容,请联系:hwhale#tublm.com(使用前将#替换为@)