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.short_timer_ms = millis();
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gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event on: type=%u/reason=%u", fstype, reason);
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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 = true;
if(g.fs_action_short == FS_ACTION_SHORT_FBWA) {
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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 = true;
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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.fs_action_short != FS_ACTION_SHORT_BESTGUESS) {
failsafe.saved_mode = control_mode;
failsafe.saved_mode_set = true;
if(g.fs_action_short == FS_ACTION_SHORT_FBWA) {
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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.
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gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event on: type=%u/reason=%u", fstype, reason);
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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:
if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
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#if PARACHUTE == ENABLED
parachute_release();
#endif
} else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
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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:
if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
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#if PARACHUTE == ENABLED
parachute_release();
#endif
} else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
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set_mode(FLY_BY_WIRE_A, reason);
} else if (g.fs_action_long == FS_ACTION_LONG_RTL) {
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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;
}
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
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gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event off: reason=%u", reason);
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 = false;
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set_mode(failsafe.saved_mode, reason);
}
}
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void Plane::failsafe_long_off_event(mode_reason_t reason)
{
// We're back in radio contact
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event off: reason=%u", reason);
failsafe.state = FAILSAFE_NONE;
}
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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.consumed_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();
}