mirror of https://github.com/ArduPilot/ardupilot
84 lines
1.9 KiB
C
84 lines
1.9 KiB
C
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#ifndef APM_OBC_H
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#define APM_OBC_H
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/*
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Outback Challenge Failsafe module
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Andrew Tridgell and CanberraUAV, August 2012
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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#include <AP_Common.h>
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#include <inttypes.h>
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class APM_OBC
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{
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public:
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enum control_mode {
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OBC_MANUAL = 0,
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OBC_FBW = 1,
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OBC_AUTO = 2
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};
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enum state {
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STATE_PREFLIGHT = 0,
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STATE_AUTO = 1,
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STATE_DATA_LINK_LOSS = 2,
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STATE_GPS_LOSS = 3
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};
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// Constructor
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APM_OBC(void)
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{
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if (_heartbeat_pin != -1) {
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pinMode(_heartbeat_pin, OUTPUT);
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}
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if (_manual_pin != -1) {
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pinMode(_manual_pin, OUTPUT);
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}
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_state = STATE_PREFLIGHT;
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_terminate.set(0);
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// get a pointer to COMMAND_INDEX so we can resume a
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// auto mission when a failsafe condition is resolved
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enum ap_var_type var_type;
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_command_index = (AP_Int8 *)AP_Param::find("CMD_INDEX", &var_type);
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}
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void check(enum control_mode control_mode,
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uint32_t last_heartbeat_ms,
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uint32_t last_gps_fix_ms);
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// for holding parameters
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static const struct AP_Param::GroupInfo var_info[];
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private:
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enum state _state;
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// digital output pins for communicating with the failsafe board
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AP_Int8 _heartbeat_pin;
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AP_Int8 _manual_pin;
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AP_Int8 _terminate;
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// waypoint numbers to jump to on failsafe conditions
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AP_Int8 _wp_comms_hold;
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AP_Int8 _wp_gps_loss;
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bool _heartbeat_pin_value;
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// pointer to command index parameter in g
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AP_Int8 *_command_index;
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// saved waypoint for resuming mission
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uint8_t _saved_wp;
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};
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// map from ArduPlane control_mode to APM_OBC::control_mode
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#define OBC_MODE(control_mode) ((control_mode==AUTO?APM_OBC::OBC_AUTO:control_mode==MANUAL?APM_OBC::OBC_MANUAL:APM_OBC::OBC_FBW))
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#endif // APM_OBC_H
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