Merge pull request #1535 from bitcraze/Aris/Arming

Arming and Idle Thrust updates

Author: ArisMorgens

docs/functional-areas/supervisor/arming.md

@@ -29,7 +29,7 @@ Auto arming is configured at compile time through the `CONFIG_MOTORS_REQUIRE_ARM
 
 ## Idle thrust
 
-The motors are used to indicate to the pilot that the system is armed and ready to fly. Motors runs at idle thrust when
+The motors are used to indicate to the pilot that the system is armed and ready to fly. Motors run at idle thrust when
 the supervisor is in a state where flight is enabled.
 
 Note that the default

src/modules/src/Kconfig

@@ -165,6 +165,15 @@ config MOTORS_REQUIRE_ARMING
         When enabled, system must be armed to be able to take off. Arming can
         be done in several ways, e.g. though cfclient or external transmitter.
 
+config MOTORS_DEFAULT_IDLE_THRUST
+    int "Idle thrust for the armed motors"
+    depends on MOTORS_REQUIRE_ARMING
+    range 0 15000
+    default 7000
+    help
+        Sets the baseline motor power level when they are armed. Setting this
+        value above 7000 may cause the platform to move unintentionally, while
+        setting it too low might not provide enough power to spin the motors.
 
 config MOTORS_DEFAULT_PROP_TEST_PWM_RATIO
     int "Override default PWM ratio to use during motor tests"

src/platform/interface/platform_defaults.h

@@ -215,3 +215,12 @@
 #ifndef HEALTH_PROPELLER_TEST_THRESHOLD
     #define HEALTH_PROPELLER_TEST_THRESHOLD  0.0f
 #endif
+
+// For safety, when the BigQuad deck is enabled, the user should
+// know when the platform is ready to fly.
+#ifdef CONFIG_DECK_BIGQUAD
+    #define CONFIG_MOTORS_REQUIRE_ARMING 1
+    #ifndef CONFIG_MOTORS_DEFAULT_IDLE_THRUST
+        #define CONFIG_MOTORS_DEFAULT_IDLE_THRUST 7000
+    #endif
+#endif

src/platform/interface/platform_defaults_cf2.h

@@ -163,6 +163,3 @@
 #define PID_POS_VEL_Y_MAX 1.0f
 #define PID_POS_VEL_Z_MAX 1.0f
 
-#if defined(CONFIG_DECK_BIGQUAD) && defined(MOTORS_REQUIRE_ARMING)
-    #define CONFIG_MOTORS_DEFAULT_IDLE_THRUST 7000
-#endif

src/platform/interface/platform_defaults_cf21bl.h

@@ -134,4 +134,3 @@
 #define PID_POS_VEL_Y_MAX 1.0f
 #define PID_POS_VEL_Z_MAX 1.0f
 
-#define CONFIG_MOTORS_DEFAULT_IDLE_THRUST 7000