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, const AP_GPS &_gps) :
AP_AdvancedFailsafe(_mission, _gps)
{}
/*
setup radio_out values for all channels to termination values
*/
void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
{
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plane.g2.servo_channels.disable_passthrough(true);
if (_terminate_action == TERMINATE_ACTION_LAND) {
plane.landing.terminate();
} else {
// aerodynamic termination is the default approach to termination
SRV_Channels::set_output_scaled(SRV_Channel::k_flap_auto, 100);
SRV_Channels::set_output_scaled(SRV_Channel::k_flap, 100);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, SERVO_MAX);
if (plane.aparm.throttle_min < 0) {
// configured for reverse thrust, use TRIM
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
} else {
// use MIN
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
}
SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
}
plane.servos_output();
plane.quadplane.afs_terminate();
// also disarm to ensure that ignition is cut
plane.disarm_motors();
}
void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
{
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// all aux channels
SRV_Channels::set_failsafe_limit(SRV_Channel::k_flap_auto, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_flap, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_aileron, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
if (plane.aparm.throttle_min < 0) {
// configured for reverse thrust, use TRIM
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
} else {
// normal throttle, use MIN
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
}
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_none, SRV_Channel::SRV_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;
}