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ArduCopter: log watchdog event to dataflash

This commit is contained in:
rmackay9 2012-12-31 13:32:27 +09:00 committed by Andrew Tridgell
parent 16f99ebcab
commit 2181ec2ab0
3 changed files with 7 additions and 5 deletions
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5
ArduCopter/defines.h
View File

@ -435,8 +435,9 @@ enum gcs_severity {
// subsystem specific error codes -- radio
#define ERROR_CODE_RADIO_LATE_FRAME 2
// subsystem specific error codes -- failsafe
#define ERROR_CODE_RADIO_FAILSAFE_THROTTLE 2
#define ERROR_CODE_RADIO_FAILSAFE_BATTERY 3
#define ERROR_CODE_FAILSAFE_THROTTLE 2
#define ERROR_CODE_FAILSAFE_BATTERY 3
#define ERROR_CODE_FAILSAFE_WATCHDOG 4

4
ArduCopter/events.pde
View File

@ -48,7 +48,7 @@ static void failsafe_on_event()
}
// log the error to the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_RADIO_FAILSAFE_THROTTLE);
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_THROTTLE);
}
@ -95,7 +95,7 @@ static void low_battery_event(void)
// warn the ground station and log to dataflash
gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!"));
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_RADIO_FAILSAFE_BATTERY);
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_BATTERY);
#if COPTER_LEDS == ENABLED
if ( bitRead(g.copter_leds_mode, 3) ) { // Only Activate if a battery is connected to avoid alarm on USB only

3
ArduCopter/failsafe.pde
View File

@ -48,13 +48,14 @@ void failsafe_check(uint32_t tnow)
in_failsafe = true;
}
if (in_failsafe && tnow - failsafe_last_timestamp > 1000000) {
if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) {
// disarm motors every second
failsafe_last_timestamp = tnow;
if(motors.armed()) {
motors.armed(false);
set_armed(true);
motors.output();
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_WATCHDOG);
}
}
}