ardupilot/ArduPlane/afs_plane.cpp

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/*
plane specific AP_AdvancedFailsafe class
*/
#include "Plane.h"
// Constructor
AP_AdvancedFailsafe_Plane::AP_AdvancedFailsafe_Plane(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap) :
AP_AdvancedFailsafe(_mission, _baro, _gps, _rcmap)
{}
/*
setup radio_out values for all channels to termination values
*/
void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
{
// we are terminating. Setup primary output channels radio_out values
RC_Channel *ch_roll = RC_Channel::rc_channel(rcmap.roll()-1);
RC_Channel *ch_pitch = RC_Channel::rc_channel(rcmap.pitch()-1);
RC_Channel *ch_yaw = RC_Channel::rc_channel(rcmap.yaw()-1);
RC_Channel *ch_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
ch_roll->set_radio_out(ch_roll->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN));
ch_pitch->set_radio_out(ch_pitch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX));
ch_yaw->set_radio_out(ch_yaw->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX));
ch_throttle->set_radio_out(ch_throttle->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN));
RC_Channel_aux::disable_passthrough(true);
plane.servos_output();
// and all aux channels
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_flap_auto, RC_Channel::RC_CHANNEL_LIMIT_MAX);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_flap, RC_Channel::RC_CHANNEL_LIMIT_MAX);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_aileron, RC_Channel::RC_CHANNEL_LIMIT_MIN);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_rudder, RC_Channel::RC_CHANNEL_LIMIT_MAX);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_elevator, RC_Channel::RC_CHANNEL_LIMIT_MAX);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_elevator_with_input, RC_Channel::RC_CHANNEL_LIMIT_MAX);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_manual, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_none, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
plane.quadplane.afs_terminate();
// also disarm to ensure that ignition is cut
plane.disarm_motors();
}
void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
{
const RC_Channel *ch_roll = RC_Channel::rc_channel(rcmap.roll()-1);
const RC_Channel *ch_pitch = RC_Channel::rc_channel(rcmap.pitch()-1);
const RC_Channel *ch_yaw = RC_Channel::rc_channel(rcmap.yaw()-1);
const RC_Channel *ch_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
// setup primary channel output values
hal.rcout->set_failsafe_pwm(1U<<(rcmap.roll()-1), ch_roll->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN));
hal.rcout->set_failsafe_pwm(1U<<(rcmap.pitch()-1), ch_pitch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX));
hal.rcout->set_failsafe_pwm(1U<<(rcmap.yaw()-1), ch_yaw->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX));
hal.rcout->set_failsafe_pwm(1U<<(rcmap.throttle()-1), ch_throttle->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN));
// and all aux channels
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_flap_auto, RC_Channel::RC_CHANNEL_LIMIT_MAX);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_flap, RC_Channel::RC_CHANNEL_LIMIT_MAX);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_aileron, RC_Channel::RC_CHANNEL_LIMIT_MIN);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_rudder, RC_Channel::RC_CHANNEL_LIMIT_MAX);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_elevator, RC_Channel::RC_CHANNEL_LIMIT_MAX);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_elevator_with_input, RC_Channel::RC_CHANNEL_LIMIT_MAX);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_manual, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_none, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
if (plane.quadplane.available()) {
// setup AP_Motors outputs for failsafe
uint16_t mask = plane.quadplane.motors->get_motor_mask();
hal.rcout->set_failsafe_pwm(mask, plane.quadplane.thr_min_pwm);
}
}
/*
return an AFS_MODE for current control mode
*/
AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Plane::afs_mode(void)
{
if (plane.auto_throttle_mode) {
return AP_AdvancedFailsafe::AFS_AUTO;
}
if (plane.control_mode == MANUAL) {
return AP_AdvancedFailsafe::AFS_MANUAL;
}
return AP_AdvancedFailsafe::AFS_STABILIZED;
}