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Copter: Change Radio Failsafe Timeout

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Change Radio Failsafe Timeout from 2 seconds to 200ms
This commit is contained in:
Craig Elder 2014-07-16 19:41:43 -07:00
parent 3c9c943b67
commit 07d43534c1
2 changed files with 12 additions and 7 deletions
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9
ArduCopter/config.h
View File

@ -317,9 +317,14 @@
# define FS_GCS_TIMEOUT_MS 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
#endif
// Radio failsafe while using RC_override
#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 2000 // RC Radio failsafe triggers after 2 seconds while using RC_override from ground station
#endif
// Radio failsafe
#ifndef FAILSAFE_RADIO_TIMEOUT_MS
#define FAILSAFE_RADIO_TIMEOUT_MS 200 // RC Radio Failsafe triggers after 200 miliseconds with No RC Input
#ifndef FS_RADIO_TIMEOUT_MS
#define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 miliseconds with No RC Input
#endif
// possible values for FS_GCS parameter

10
ArduCopter/radio.pde
View File

@ -123,11 +123,11 @@ static void read_radio()
RC_Channel_aux::output_ch_all();
}else{
uint32_t elapsed = millis() - last_update;
// turn on throttle failsafe if no update from ppm encoder for 2 seconds
if ((ap.rc_receiver_present && (elapsed >= FAILSAFE_RADIO_TIMEOUT_MS)) || (!ap.rc_receiver_present && (elapsed >= FS_GCS_TIMEOUT_MS))
&& g.failsafe_throttle && motors.armed() && !failsafe.radio) {
Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
set_failsafe_radio(true);
// turn on throttle failsafe if no update from the RC Radio for 500ms or 2000ms if we are using RC_OVERRIDE
if ((!failsafe.rc_override_active && (elapsed >= FS_RADIO_TIMEOUT_MS)) || (failsafe.rc_override_active && (elapsed >= FS_RADIO_RC_OVERRIDE_TIMEOUT_MS))
&& g.failsafe_throttle && motors.armed() && !failsafe.radio) {
Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
set_failsafe_radio(true);
}
}
}