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Plane: add option to entirely disable short failsafe

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This commit is contained in:
Peter Barker 2017-09-21 16:53:15 +10:00 committed by Andrew Tridgell
parent c7c2c4ff2c
commit 01d8c506d2
2 changed files with 23 additions and 5 deletions
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6
ArduPlane/defines.h
View File

@ -31,6 +31,12 @@ enum gcs_failsafe {
// while in AUTO mode
};
enum short_failsafe_action {
SHORT_FS_ACTION_BESTGUESS = 0,
SHORT_FS_ACTION_CIRCLE = 1,
SHORT_FS_ACTION_FBWA = 2,
SHORT_FS_ACTION_DISABLED = 3,
};
enum FlightMode {
MANUAL = 0,

22
ArduPlane/system.cpp
View File

@ -479,8 +479,13 @@ void Plane::check_long_failsafe()
// only act on changes
// -------------------
if (failsafe.state != FAILSAFE_LONG && failsafe.state != FAILSAFE_GCS && flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
if (failsafe.state == FAILSAFE_SHORT &&
(tnow - failsafe.ch3_timer_ms) > g.long_fs_timeout*1000) {
uint32_t radio_timeout_ms = failsafe.last_valid_rc_ms;
if (g.short_fs_action != SHORT_FS_ACTION_DISABLED) {
// time is relative to when short failsafe enabled
radio_timeout_ms = failsafe.ch3_timer_ms;
}
if (failsafe.ch3_failsafe &&
(tnow - radio_timeout_ms) > g.long_fs_timeout*1000) {
failsafe_long_on_event(FAILSAFE_LONG, MODE_REASON_RADIO_FAILSAFE);
} else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_AUTO && control_mode == AUTO &&
failsafe.last_heartbeat_ms != 0 &&
@ -496,9 +501,14 @@ void Plane::check_long_failsafe()
failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
}
} else {
uint32_t timeout_seconds = g.long_fs_timeout;
if (g.short_fs_action != SHORT_FS_ACTION_DISABLED) {
// avoid dropping back into short timeout
timeout_seconds = g.short_fs_timeout;
}
// We do not change state but allow for user to change mode
if (failsafe.state == FAILSAFE_GCS &&
(tnow - failsafe.last_heartbeat_ms) < g.short_fs_timeout*1000) {
(tnow - failsafe.last_heartbeat_ms) < timeout_seconds*1000) {
failsafe.state = FAILSAFE_NONE;
} else if (failsafe.state == FAILSAFE_LONG &&
!failsafe.ch3_failsafe) {
@ -511,7 +521,9 @@ void Plane::check_short_failsafe()
{
// only act on changes
// -------------------
if(failsafe.state == FAILSAFE_NONE && flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
if (g.short_fs_action != SHORT_FS_ACTION_DISABLED &&
failsafe.state == FAILSAFE_NONE &&
flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
// The condition is checked and the flag ch3_failsafe is set in radio.cpp
if(failsafe.ch3_failsafe) {
failsafe_short_on_event(FAILSAFE_SHORT, MODE_REASON_RADIO_FAILSAFE);
@ -519,7 +531,7 @@ void Plane::check_short_failsafe()
}
if(failsafe.state == FAILSAFE_SHORT) {
if(!failsafe.ch3_failsafe) {
if(!failsafe.ch3_failsafe || g.short_fs_action == SHORT_FS_ACTION_DISABLED) {
failsafe_short_off_event(MODE_REASON_RADIO_FAILSAFE);
}
}