ardupilot/ArduPlane/events.cpp

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#include "Plane.h"
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void Plane::failsafe_short_on_event(enum failsafe_state fstype, mode_reason_t reason)
{
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// This is how to handle a short loss of control signal failsafe.
failsafe.state = fstype;
failsafe.ch3_timer_ms = millis();
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event on, ");
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switch(control_mode)
{
case MANUAL:
case STABILIZE:
case ACRO:
case FLY_BY_WIRE_A:
case AUTOTUNE:
case FLY_BY_WIRE_B:
case CRUISE:
case TRAINING:
failsafe.saved_mode = control_mode;
failsafe.saved_mode_set = 1;
if(g.short_fs_action == 2) {
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set_mode(FLY_BY_WIRE_A, reason);
} else {
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set_mode(CIRCLE, reason);
}
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break;
case QSTABILIZE:
case QLOITER:
case QHOVER:
failsafe.saved_mode = control_mode;
failsafe.saved_mode_set = 1;
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set_mode(QLAND, reason);
break;
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case AUTO:
case AVOID_ADSB:
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case GUIDED:
case LOITER:
if(g.short_fs_action != 0) {
failsafe.saved_mode = control_mode;
failsafe.saved_mode_set = 1;
if(g.short_fs_action == 2) {
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set_mode(FLY_BY_WIRE_A, reason);
} else {
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set_mode(CIRCLE, reason);
}
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}
break;
case CIRCLE:
case RTL:
case QLAND:
case QRTL:
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default:
break;
}
gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %u", (unsigned)control_mode);
}
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void Plane::failsafe_long_on_event(enum failsafe_state fstype, mode_reason_t reason)
{
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// This is how to handle a long loss of control signal failsafe.
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event on, ");
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// If the GCS is locked up we allow control to revert to RC
hal.rcin->clear_overrides();
failsafe.state = fstype;
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switch(control_mode)
{
case MANUAL:
case STABILIZE:
case ACRO:
case FLY_BY_WIRE_A:
case AUTOTUNE:
case FLY_BY_WIRE_B:
case CRUISE:
case TRAINING:
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case CIRCLE:
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if(g.long_fs_action == 3) {
#if PARACHUTE == ENABLED
parachute_release();
#endif
} else if (g.long_fs_action == 2) {
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set_mode(FLY_BY_WIRE_A, reason);
} else {
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set_mode(RTL, reason);
}
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break;
case QSTABILIZE:
case QHOVER:
case QLOITER:
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set_mode(QLAND, reason);
break;
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case AUTO:
case AVOID_ADSB:
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case GUIDED:
case LOITER:
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if(g.long_fs_action == 3) {
#if PARACHUTE == ENABLED
parachute_release();
#endif
} else if (g.long_fs_action == 2) {
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set_mode(FLY_BY_WIRE_A, reason);
} else if (g.long_fs_action == 1) {
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set_mode(RTL, reason);
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}
break;
case RTL:
case QLAND:
case QRTL:
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default:
break;
}
if (fstype == FAILSAFE_GCS) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "No GCS heartbeat");
}
gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %u", (unsigned)control_mode);
}
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void Plane::failsafe_short_off_event(mode_reason_t reason)
{
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// We're back in radio contact
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event off");
failsafe.state = FAILSAFE_NONE;
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// re-read the switch so we can return to our preferred mode
// --------------------------------------------------------
if (control_mode == CIRCLE && failsafe.saved_mode_set) {
failsafe.saved_mode_set = 0;
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set_mode(failsafe.saved_mode, reason);
}
}
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void Plane::low_battery_event(void)
{
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if (failsafe.low_battery) {
return;
}
gcs().send_text(MAV_SEVERITY_WARNING, "Low battery %.2fV used %.0f mAh",
(double)battery.voltage(), (double)battery.current_total_mah());
if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
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set_mode(RTL, MODE_REASON_BATTERY_FAILSAFE);
aparm.throttle_cruise.load();
}
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failsafe.low_battery = true;
AP_Notify::flags.failsafe_battery = true;
}
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void Plane::update_events(void)
{
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ServoRelayEvents.update_events();
}