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OBC: added FS_TERM_PIN option

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this sets a pin for flight termination
This commit is contained in:
Andrew Tridgell 2012-09-07 11:44:02 +10:00
parent 164c60d25f
commit 13145e4c01
2 changed files with 17 additions and 0 deletions
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15
libraries/APM_OBC/APM_OBC.cpp
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@ -49,6 +49,12 @@ const AP_Param::GroupInfo APM_OBC::var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("TERM_ACTION", 6, APM_OBC, _terminate_action, 0), AP_GROUPINFO("TERM_ACTION", 6, APM_OBC, _terminate_action, 0),
// @Param: TERM_PIN
// @DisplayName: Terminate Pin
// @Description: This sets a digital output pin to set high on flight termination
// @User: Advanced
AP_GROUPINFO("TERM_PIN", 7, APM_OBC, _terminate_pin, -1),
AP_GROUPEND AP_GROUPEND
}; };
@ -169,4 +175,13 @@ APM_OBC::check(APM_OBC::control_mode mode,
_heartbeat_pin_value = !_heartbeat_pin_value; _heartbeat_pin_value = !_heartbeat_pin_value;
digitalWrite(_heartbeat_pin, _heartbeat_pin_value); digitalWrite(_heartbeat_pin, _heartbeat_pin_value);
} }
// set the terminate pin
if (_terminate_pin != -1) {
if (_terminate_pin != _last_terminate_pin) {
pinMode(_terminate_pin, OUTPUT);
_last_terminate_pin = _terminate_pin;
}
digitalWrite(_terminate_pin, _terminate?HIGH:LOW);
}
} }

2
libraries/APM_OBC/APM_OBC.h
View File

@ -65,12 +65,14 @@ private:
// digital output pins for communicating with the failsafe board // digital output pins for communicating with the failsafe board
AP_Int8 _heartbeat_pin; AP_Int8 _heartbeat_pin;
AP_Int8 _manual_pin; AP_Int8 _manual_pin;
AP_Int8 _terminate_pin;
AP_Int8 _terminate; AP_Int8 _terminate;
AP_Int8 _terminate_action; AP_Int8 _terminate_action;
// last pins to cope with changing at runtime // last pins to cope with changing at runtime
int8_t _last_heartbeat_pin; int8_t _last_heartbeat_pin;
int8_t _last_manual_pin; int8_t _last_manual_pin;
int8_t _last_terminate_pin;
// waypoint numbers to jump to on failsafe conditions // waypoint numbers to jump to on failsafe conditions
AP_Int8 _wp_comms_hold; AP_Int8 _wp_comms_hold;