ardupilot/ArduCopter/afs_copter.cpp

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/*
copter specific AP_AdvancedFailsafe class
*/
#include "Copter.h"
#if ADVANCED_FAILSAFE == ENABLED
/*
setup radio_out values for all channels to termination values
*/
void AP_AdvancedFailsafe_Copter::terminate_vehicle(void)
{
if (_terminate_action == TERMINATE_ACTION_LAND) {
copter.set_mode(Mode::Number::LAND, ModeReason::TERMINATE);
} else {
// stop motors
copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
copter.motors->output();
// disarm as well
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copter.arming.disarm(AP_Arming::Method::AFS);
// and set all aux channels
SRV_Channels::set_output_limit(SRV_Channel::k_heli_rsc, SRV_Channel::Limit::TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_heli_tail_rsc, SRV_Channel::Limit::TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::Limit::TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_ignition, SRV_Channel::Limit::TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::Limit::TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::Limit::TRIM);
}
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SRV_Channels::output_ch_all();
}
void AP_AdvancedFailsafe_Copter::setup_IO_failsafe(void)
{
// setup failsafe for all aux channels
SRV_Channels::set_failsafe_limit(SRV_Channel::k_heli_rsc, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_heli_tail_rsc, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_ignition, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_none, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_manual, SRV_Channel::Limit::TRIM);
#if FRAME_CONFIG != HELI_FRAME
// setup AP_Motors outputs for failsafe
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uint32_t mask = copter.motors->get_motor_mask();
hal.rcout->set_failsafe_pwm(mask, copter.motors->get_pwm_output_min());
#endif
}
/*
return an AFS_MODE for current control mode
*/
AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Copter::afs_mode(void)
{
switch (copter.flightmode->mode_number()) {
case Mode::Number::AUTO:
case Mode::Number::AUTO_RTL:
case Mode::Number::GUIDED:
case Mode::Number::RTL:
case Mode::Number::LAND:
return AP_AdvancedFailsafe::AFS_AUTO;
default:
break;
}
return AP_AdvancedFailsafe::AFS_STABILIZED;
}
#endif // ADVANCED_FAILSAFE