From 002223204b792c67ba2f3fafeee118f034a9eddf Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 14 Nov 2018 20:32:23 +0900 Subject: [PATCH] Rover: add comments to failsafe structure --- APMrover2/Rover.h | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h index 6dec90ae87..b8f4dcd6cc 100644 --- a/APMrover2/Rover.h +++ b/APMrover2/Rover.h @@ -256,16 +256,13 @@ private: // This is set to -1 when we need to re-read the switch uint8_t oldSwitchPosition; - // Failsafe - // A tracking variable for type of failsafe active - // Used for failsafe based on loss of RC signal or GCS signal. See - // FAILSAFE_EVENT_* + // structure for holding failsafe state struct { - uint8_t bits; - uint32_t start_time; - uint8_t triggered; - uint32_t last_valid_rc_ms; - uint32_t last_heartbeat_ms; + uint8_t bits; // bit flags of failsafes that have started (but not necessarily triggered an action) + uint32_t start_time; // start time of the earliest failsafe + uint8_t triggered; // bit flags of failsafes that have triggered an action + uint32_t last_valid_rc_ms; // system time of most recent RC input from pilot + uint32_t last_heartbeat_ms; // system time of most recent heartbeat from ground station } failsafe; // notification object for LEDs, buzzers etc (parameter set to false disables external leds)