ardupilot/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h

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#pragma once
/*
This program 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 3 of the License, or
(at your option) any later version.
This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Outback Challenge Failsafe module
Andrew Tridgell and CanberraUAV, August 2012
*/
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Mission/AP_Mission.h>
#include <inttypes.h>
class AP_AdvancedFailsafe
{
public:
enum control_mode {
AFS_MANUAL = 0,
AFS_STABILIZED = 1,
AFS_AUTO = 2
};
enum state {
STATE_PREFLIGHT = 0,
STATE_AUTO = 1,
STATE_DATA_LINK_LOSS = 2,
STATE_GPS_LOSS = 3
};
enum terminate_action {
TERMINATE_ACTION_TERMINATE = 42,
TERMINATE_ACTION_LAND = 43
};
/* Do not allow copies */
AP_AdvancedFailsafe(const AP_AdvancedFailsafe &other) = delete;
AP_AdvancedFailsafe &operator=(const AP_AdvancedFailsafe&) = delete;
// Constructor
AP_AdvancedFailsafe(AP_Mission &_mission) :
mission(_mission)
{
AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {
AP_HAL::panic("AP_Logger must be singleton");
}
_singleton = this;
_state = STATE_PREFLIGHT;
_terminate.set(0);
_saved_wp = 0;
}
// get singleton instance
static AP_AdvancedFailsafe *get_singleton(void) {
return _singleton;
}
bool enabled() { return _enable; }
// check that everything is OK
void check(uint32_t last_heartbeat_ms, bool geofence_breached, uint32_t last_valid_rc_ms);
// generate heartbeat msgs, so external failsafe boards are happy
// during sensor calibration
void heartbeat(void);
// return true if we are terminating (deliberately crashing the vehicle)
bool should_crash_vehicle(void);
// enables or disables a GCS based termination, returns true if AFS is in the desired termination state
bool gcs_terminate(bool should_terminate, const char *reason);
// called to set all outputs to termination state
virtual void terminate_vehicle(void) = 0;
// for holding parameters
static const struct AP_Param::GroupInfo var_info[];
bool terminating_vehicle_via_landing() const {
return _terminate_action == TERMINATE_ACTION_LAND;
};
protected:
// setup failsafe values for if FMU firmware stops running
virtual void setup_IO_failsafe(void) = 0;
// return the AFS mapped control mode
virtual enum control_mode afs_mode(void) = 0;
enum state _state;
AP_Mission &mission;
AP_Int8 _enable;
// digital output pins for communicating with the failsafe board
AP_Int8 _heartbeat_pin;
AP_Int8 _manual_pin;
AP_Int8 _terminate_pin;
AP_Int8 _terminate;
AP_Int8 _terminate_action;
// waypoint numbers to jump to on failsafe conditions
AP_Int8 _wp_comms_hold;
AP_Int8 _wp_gps_loss;
AP_Float _qnh_pressure;
AP_Int32 _amsl_limit;
AP_Int32 _amsl_margin_gps;
AP_Float _rc_fail_time_seconds;
AP_Int8 _max_gps_loss;
AP_Int8 _max_comms_loss;
AP_Int8 _enable_geofence_fs;
AP_Int8 _enable_RC_fs;
AP_Int8 _rc_term_manual_only;
AP_Int8 _enable_dual_loss;
AP_Int16 _max_range_km;
bool _heartbeat_pin_value;
// saved waypoint for resuming mission
uint8_t _saved_wp;
// number of times we've lost GPS
uint8_t _gps_loss_count;
// number of times we've lost data link
uint8_t _comms_loss_count;
// last comms loss time
uint32_t _last_comms_loss_ms;
// last GPS loss time
uint32_t _last_gps_loss_ms;
// have the failsafe values been setup?
bool _failsafe_setup:1;
Location _first_location;
bool _have_first_location;
uint32_t _term_range_notice_ms;
bool check_altlimit(void);
private:
static AP_AdvancedFailsafe *_singleton;
// update maximum range check
void max_range_update();
};
namespace AP {
AP_AdvancedFailsafe *advancedfailsafe();
};