[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
paparazzi · Jul 27, 2020 · de22fb1 · de22fb1
1 parent c53756b
commit de22fb1
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Showing 8 changed files with 104 additions and 46 deletions.
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming.h
@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2020 Gautier Hattenberger <gautier.hattenberger@enac.fr>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file firmwares/rotorcraft/autopilot_arming.h
+ *
+ * Arming procedure for rotorcraft
+ * Several options can be selected:
+ *  - yaw stick
+ *  - switch position
+ *  - throttle stick
+ *
+ */
+
+#ifndef AUTOPILOT_ARMING_H
+#define AUTOPILOT_ARMING_H
+
+/* Include arming procedure, yaw stick by default */
+#if USE_KILL_SWITCH_FOR_MOTOR_ARMING
+#include "autopilot_arming_switch.h"
+PRINT_CONFIG_MSG("Using kill switch for motor arming")
+#elif USE_THROTTLE_FOR_MOTOR_ARMING
+#include "autopilot_arming_throttle.h"
+PRINT_CONFIG_MSG("Using throttle for motor arming")
+#else
+#include "autopilot_arming_yaw.h"
+PRINT_CONFIG_MSG("Using 2 sec yaw for motor arming")
+#endif
+
+#endif /* AUTOPILOT_ARMING_H */
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_common.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_common.h
@@ -0,0 +1,52 @@
+/*
+ * Copyright (C) 2020 Gautier Hattenberger <gautier.hattenberger@enac.fr>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file firmwares/rotorcraft/autopilot_arming_common.h
+ *
+ * Arming procedure for rotorcraft, common definitions
+ */
+
+#ifndef AUTOPILOT_ARMING_COMMON_H
+#define AUTOPILOT_ARMING_COMMON_H
+
+#include "autopilot_rc_helpers.h"
+
+/* Arming status*/
+#define AP_ARMING_STATUS_NO_RC                0
+#define AP_ARMING_STATUS_WAITING              1
+#define AP_ARMING_STATUS_ARMING               2
+#define AP_ARMING_STATUS_ARMED                3
+#define AP_ARMING_STATUS_DISARMING            4
+#define AP_ARMING_STATUS_KILLED               5
+#define AP_ARMING_STATUS_YAW_CENTERED         6
+#define AP_ARMING_STATUS_THROTTLE_DOWN        7
+#define AP_ARMING_STATUS_NOT_MODE_MANUAL      8
+#define AP_ARMING_STATUS_UNARMED_IN_AUTO      9
+#define AP_ARMING_STATUS_THROTTLE_NOT_DOWN    10
+#define AP_ARMING_STATUS_STICKS_NOT_CENTERED  11
+#define AP_ARMING_STATUS_PITCH_NOT_CENTERED   12
+#define AP_ARMING_STATUS_ROLL_NOT_CENTERED    13
+#define AP_ARMING_STATUS_YAW_NOT_CENTERED     14
+#define AP_ARMING_STATUS_AHRS_NOT_ALLIGNED    15
+#define AP_ARMING_STATUS_OUT_OF_GEOFENCE      16
+#define AP_ARMING_STATUS_LOW_BATTERY          17
+
+#endif /* AUTOPILOT_ARMING_COMMON_H */
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h
@@ -29,7 +29,7 @@
 #ifndef AUTOPILOT_ARMING_SWITCH_H
 #define AUTOPILOT_ARMING_SWITCH_H
 
-#include "autopilot_rc_helpers.h"
+#include "autopilot_arming_common.h"
 
 #ifndef RADIO_KILL_SWITCH
 #error "You need to have a RADIO_KILL_SWITCH configured to arm the motors with the switch!"

diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h
@@ -29,7 +29,7 @@
 #ifndef AUTOPILOT_ARMING_THROTTLE_H
 #define AUTOPILOT_ARMING_THROTTLE_H
 
-#include "autopilot_rc_helpers.h"
+#include "autopilot_arming_common.h"
 #include "autopilot_firmware.h"
 
 #define AUTOPILOT_ARMING_DELAY 10

diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h
@@ -29,7 +29,7 @@
 #ifndef AUTOPILOT_ARMING_YAW_H
 #define AUTOPILOT_ARMING_YAW_H
 
-#include "autopilot_rc_helpers.h"
+#include "autopilot_arming_common.h"
 #include "autopilot_firmware.h"
 #include "autopilot.h"
 

diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_generated.c b/sw/airborne/firmwares/rotorcraft/autopilot_generated.c
@@ -28,6 +28,7 @@
 
 #include "firmwares/rotorcraft/autopilot_generated.h"
 #include "autopilot.h"
+#include "autopilot_arming.h"
 
 #include "subsystems/radio_control.h"
 #include "subsystems/commands.h"
@@ -37,17 +38,6 @@
 
 #include "generated/settings.h"
 
-#if USE_KILL_SWITCH_FOR_MOTOR_ARMING
-#include "autopilot_arming_switch.h"
-PRINT_CONFIG_MSG("Using kill switch for motor arming")
-#elif USE_THROTTLE_FOR_MOTOR_ARMING
-#include "autopilot_arming_throttle.h"
-PRINT_CONFIG_MSG("Using throttle for motor arming")
-#else
-#include "autopilot_arming_yaw.h"
-PRINT_CONFIG_MSG("Using 2 sec yaw for motor arming")
-#endif
-
 
 void autopilot_generated_init(void)
 {

diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_static.c b/sw/airborne/firmwares/rotorcraft/autopilot_static.c
@@ -28,6 +28,7 @@
  */
 
 #include "autopilot.h"
+#include "autopilot_arming.h"
 
 #include "subsystems/radio_control.h"
 #include "subsystems/commands.h"
@@ -45,7 +46,6 @@
 #include "firmwares/rotorcraft/stabilization/stabilization_rate.h"
 #endif
 
-#include "firmwares/rotorcraft/autopilot_rc_helpers.h"
 #include "firmwares/rotorcraft/autopilot_guided.h"
 
 #include "generated/settings.h"
@@ -60,17 +60,6 @@
 #endif
 #endif
 
-#if USE_KILL_SWITCH_FOR_MOTOR_ARMING
-#include "autopilot_arming_switch.h"
-PRINT_CONFIG_MSG("Using kill switch for motor arming")
-#elif USE_THROTTLE_FOR_MOTOR_ARMING
-#include "autopilot_arming_throttle.h"
-PRINT_CONFIG_MSG("Using throttle for motor arming")
-#else
-#include "autopilot_arming_yaw.h"
-PRINT_CONFIG_MSG("Using 2 sec yaw for motor arming")
-#endif
-
 /* Geofence exceptions */
 #include "modules/nav/nav_geofence.h"
 

diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_static.h b/sw/airborne/firmwares/rotorcraft/autopilot_static.h
@@ -54,26 +54,6 @@
 #define AP_MODE_GUIDED            19
 
 
-/* Arming status*/
-#define AP_ARMING_STATUS_NO_RC 0
-#define AP_ARMING_STATUS_WAITING 1
-#define AP_ARMING_STATUS_ARMING 2
-#define AP_ARMING_STATUS_ARMED 3
-#define AP_ARMING_STATUS_DISARMING 4
-#define AP_ARMING_STATUS_KILLED 5
-#define AP_ARMING_STATUS_YAW_CENTERED 6
-#define AP_ARMING_STATUS_THROTTLE_DOWN 7
-#define AP_ARMING_STATUS_NOT_MODE_MANUAL 8
-#define AP_ARMING_STATUS_UNARMED_IN_AUTO 9
-#define AP_ARMING_STATUS_THROTTLE_NOT_DOWN 10
-#define AP_ARMING_STATUS_STICKS_NOT_CENTERED 11
-#define AP_ARMING_STATUS_PITCH_NOT_CENTERED 12
-#define AP_ARMING_STATUS_ROLL_NOT_CENTERED 13
-#define AP_ARMING_STATUS_YAW_NOT_CENTERED 14
-#define AP_ARMING_STATUS_AHRS_NOT_ALLIGNED 15
-#define AP_ARMING_STATUS_OUT_OF_GEOFENCE 16
-#define AP_ARMING_STATUS_LOW_BATTERY 17
-
 /** Default RC mode.
  */
 #ifndef MODE_MANUAL