ardupilot/APMrover2/failsafe.cpp

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/*
failsafe support
Andrew Tridgell, December 2011
*/
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#include "Rover.h"
/*
our failsafe strategy is to detect main loop lockup and switch to
passing inputs straight from the RC inputs to RC outputs.
*/
/*
this failsafe_check function is called from the core timer interrupt
at 1kHz.
*/
void Rover::failsafe_check()
{
static uint16_t last_mainLoop_count;
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static uint32_t last_timestamp;
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const uint32_t tnow = AP_HAL::micros();
if (mainLoop_count != last_mainLoop_count) {
// the main loop is running, all is OK
last_mainLoop_count = mainLoop_count;
last_timestamp = tnow;
return;
}
if (tnow - last_timestamp > 200000) {
// we have gone at least 0.2 seconds since the main loop
// ran. That means we're in trouble, or perhaps are in
// an initialisation routine or log erase. disarm the motors
// To-Do: log error to dataflash
if (arming.is_armed()) {
// disarm motors
disarm_motors();
}
}
}
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/*
called to set/unset a failsafe event.
*/
void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
{
uint8_t old_bits = failsafe.bits;
if (on) {
failsafe.bits |= failsafe_type;
} else {
failsafe.bits &= ~failsafe_type;
}
if (old_bits == 0 && failsafe.bits != 0) {
// a failsafe event has started
failsafe.start_time = millis();
}
if (failsafe.triggered != 0 && failsafe.bits == 0) {
// a failsafe event has ended
gcs().send_text(MAV_SEVERITY_INFO, "Failsafe ended");
}
failsafe.triggered &= failsafe.bits;
if (failsafe.triggered == 0 &&
failsafe.bits != 0 &&
millis() - failsafe.start_time > g.fs_timeout * 1000 &&
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control_mode != &mode_rtl &&
control_mode != &mode_hold) {
failsafe.triggered = failsafe.bits;
gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe trigger 0x%x", static_cast<uint32_t>(failsafe.triggered));
switch (g.fs_action) {
case 0:
break;
case 1:
if (!set_mode(mode_rtl, MODE_REASON_FAILSAFE)) {
set_mode(mode_hold, MODE_REASON_FAILSAFE);
}
break;
case 2:
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set_mode(mode_hold, MODE_REASON_FAILSAFE);
break;
case 3:
if (!set_mode(mode_smartrtl, MODE_REASON_FAILSAFE)) {
if (!set_mode(mode_rtl, MODE_REASON_FAILSAFE)) {
set_mode(mode_hold, MODE_REASON_FAILSAFE);
}
}
break;
case 4:
if (!set_mode(mode_smartrtl, MODE_REASON_FAILSAFE)) {
set_mode(mode_hold, MODE_REASON_FAILSAFE);
}
break;
}
}
}
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#if ADVANCED_FAILSAFE == ENABLED
/*
check for AFS failsafe check
*/
void Rover::afs_fs_check(void)
{
// perform AFS failsafe checks
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g2.afs.check(rover.last_heartbeat_ms, rover.g2.fence.get_breaches() != 0, failsafe.last_valid_rc_ms);
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}
#endif