ardupilot/Blimp/events.cpp

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#include "Blimp.h"
/*
* This event will be called when the failsafe changes
* boolean failsafe reflects the current state
*/
#include <AP_Vehicle/AP_MultiCopter.h>
bool Blimp::failsafe_option(FailsafeOption opt) const
{
return (g2.fs_options & (uint32_t)opt);
}
void Blimp::failsafe_radio_on_event()
{
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_OCCURRED);
// set desired action based on FS_THR_ENABLE parameter
Failsafe_Action desired_action;
switch (g.failsafe_throttle) {
case FS_THR_DISABLED:
desired_action = Failsafe_Action_None;
break;
case FS_THR_ENABLED_ALWAYS_LAND:
desired_action = Failsafe_Action_Land;
break;
default:
desired_action = Failsafe_Action_Land;
}
// Conditions to deviate from FS_THR_ENABLE selection and send specific GCS warning
if (should_disarm_on_failsafe()) {
// should immediately disarm when we're on the ground
gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe - Disarming");
arming.disarm(AP_Arming::Method::RADIOFAILSAFE);
desired_action = Failsafe_Action_None;
} else if (flightmode->is_landing() && ((battery.has_failsafed() && battery.get_highest_failsafe_priority() <= FAILSAFE_LAND_PRIORITY))) {
// Allow landing to continue when battery failsafe requires it (not a user option)
gcs().send_text(MAV_SEVERITY_WARNING, "Radio + Battery Failsafe - Continuing Landing");
desired_action = Failsafe_Action_Land;
} else if (flightmode->is_landing() && failsafe_option(FailsafeOption::CONTINUE_IF_LANDING)) {
// Allow landing to continue when FS_OPTIONS is set to continue landing
gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe - Continuing Landing");
desired_action = Failsafe_Action_Land;
} else {
gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe");
}
// Call the failsafe action handler
do_failsafe_action(desired_action, ModeReason::RADIO_FAILSAFE);
}
// failsafe_off_event - respond to radio contact being regained
void Blimp::failsafe_radio_off_event()
{
// no need to do anything except log the error as resolved
// user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_RESOLVED);
gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe Cleared");
}
void Blimp::handle_battery_failsafe(const char *type_str, const int8_t action)
{
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_BATT, LogErrorCode::FAILSAFE_OCCURRED);
Failsafe_Action desired_action = (Failsafe_Action)action;
// Conditions to deviate from BATT_FS_XXX_ACT parameter setting
if (should_disarm_on_failsafe()) {
// should immediately disarm when we're on the ground
arming.disarm(AP_Arming::Method::BATTERYFAILSAFE);
desired_action = Failsafe_Action_None;
gcs().send_text(MAV_SEVERITY_WARNING, "Battery Failsafe - Disarming");
} else if (flightmode->is_landing() && failsafe_option(FailsafeOption::CONTINUE_IF_LANDING) && desired_action != Failsafe_Action_None) {
// Allow landing to continue when FS_OPTIONS is set to continue when landing
desired_action = Failsafe_Action_Land;
gcs().send_text(MAV_SEVERITY_WARNING, "Battery Failsafe - Continuing Landing");
} else {
gcs().send_text(MAV_SEVERITY_WARNING, "Battery Failsafe");
}
// Battery FS options already use the Failsafe_Options enum. So use them directly.
do_failsafe_action(desired_action, ModeReason::BATTERY_FAILSAFE);
}
// failsafe_gcs_check - check for ground station failsafe
void Blimp::failsafe_gcs_check()
{
// Bypass GCS failsafe checks if disabled or GCS never connected
if (g.failsafe_gcs == FS_GCS_DISABLED) {
return;
}
const uint32_t gcs_last_seen_ms = gcs().sysid_myggcs_last_seen_time_ms();
if (gcs_last_seen_ms == 0) {
return;
}
// calc time since last gcs update
// note: this only looks at the heartbeat from the device id set by g.sysid_my_gcs
const uint32_t last_gcs_update_ms = millis() - gcs_last_seen_ms;
const uint32_t gcs_timeout_ms = uint32_t(constrain_float(g2.fs_gcs_timeout * 1000.0f, 0.0f, UINT32_MAX));
// Determine which event to trigger
if (last_gcs_update_ms < gcs_timeout_ms && failsafe.gcs) {
// Recovery from a GCS failsafe
set_failsafe_gcs(false);
// failsafe_gcs_off_event();
} else if (last_gcs_update_ms < gcs_timeout_ms && !failsafe.gcs) {
// No problem, do nothing
} else if (last_gcs_update_ms > gcs_timeout_ms && failsafe.gcs) {
// Already in failsafe, do nothing
} else if (last_gcs_update_ms > gcs_timeout_ms && !failsafe.gcs) {
// New GCS failsafe event, trigger events
set_failsafe_gcs(true);
arming.disarm(AP_Arming::Method::GCSFAILSAFE); // failsafe_gcs_on_event() should replace this when written
}
}
bool Blimp::should_disarm_on_failsafe()
{
if (ap.in_arming_delay) {
return true;
}
switch (control_mode) {
case Mode::Number::MANUAL:
default:
// if landed disarm
return ap.land_complete;
}
}
void Blimp::do_failsafe_action(Failsafe_Action action, ModeReason reason)
{
// Execute the specified desired_action
switch (action) {
case Failsafe_Action_None:
return;
case Failsafe_Action_Land:
set_mode_land_failsafe(reason);
break;
case Failsafe_Action_Terminate: {
arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);
}
break;
}
}
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// check for gps glitch failsafe
void Blimp::gpsglitch_check()
{
// get filter status
nav_filter_status filt_status = inertial_nav.get_filter_status();
bool gps_glitching = filt_status.flags.gps_glitching;
// log start or stop of gps glitch. AP_Notify update is handled from within AP_AHRS
if (ap.gps_glitching != gps_glitching) {
ap.gps_glitching = gps_glitching;
if (gps_glitching) {
AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH);
gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch");
} else {
AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED);
gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch cleared");
}
}
}