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Rover: add comments to failsafe structure

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This commit is contained in:
Randy Mackay 2018-11-14 20:32:23 +09:00
parent c9299db3b9
commit 002223204b
1 changed files with 6 additions and 9 deletions
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15
APMrover2/Rover.h
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@ -256,16 +256,13 @@ private:
// This is set to -1 when we need to re-read the switch // This is set to -1 when we need to re-read the switch
uint8_t oldSwitchPosition; uint8_t oldSwitchPosition;
// Failsafe // structure for holding failsafe state
// A tracking variable for type of failsafe active
// Used for failsafe based on loss of RC signal or GCS signal. See
// FAILSAFE_EVENT_*
struct { struct {
uint8_t bits; uint8_t bits; // bit flags of failsafes that have started (but not necessarily triggered an action)
uint32_t start_time; uint32_t start_time; // start time of the earliest failsafe
uint8_t triggered; uint8_t triggered; // bit flags of failsafes that have triggered an action
uint32_t last_valid_rc_ms; uint32_t last_valid_rc_ms; // system time of most recent RC input from pilot
uint32_t last_heartbeat_ms; uint32_t last_heartbeat_ms; // system time of most recent heartbeat from ground station
} failsafe; } failsafe;
// notification object for LEDs, buzzers etc (parameter set to false disables external leds) // notification object for LEDs, buzzers etc (parameter set to false disables external leds)