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APM: added failsafe support 

we now pass all channels through at 50Hz if the main loop stops
running, regardless of why. This gives us a reasonable failsafe, as
long as the low level RC library is still working, and interrupts
don't get completely disabled.
This commit is contained in:
Andrew Tridgell 2011-12-21 23:25:51 +11:00
parent e687ce9b3d
commit 29fa78214b
2 changed files with 49 additions and 2 deletions
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45
ArduPlane/failsafe.pde Normal file
View File

@ -0,0 +1,45 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
failsafe support
Andrew Tridgell, December 2011
*/
/*
our failsafe strategy is to detect main loop lockup and switch to
passing inputs straight from the RC inputs to RC outputs.
*/
/*
this failsafe_check function is called from the core timer interrupt
at 1kHz.
*/
void failsafe_check(uint32_t tnow)
{
static uint16_t last_mainLoop_count;
static uint32_t last_timestamp;
static bool in_failsafe;
if (mainLoop_count != last_mainLoop_count) {
// the main loop is running, all is OK
last_mainLoop_count = mainLoop_count;
last_timestamp = tnow;
in_failsafe = false;
return;
}
if (tnow - last_timestamp > 200000) {
// we have gone at least 0.2 seconds since the main loop
// ran. That means we're in trouble, or perhaps are in
// an initialisation routine or log erase. Start passing RC
// inputs through to outputs
in_failsafe = true;
}
if (in_failsafe && tnow - last_timestamp > 20000) {
// pass RC inputs to outputs every 20ms
last_timestamp = tnow;
for (uint8_t ch=0; ch<8; ch++) {
APM_RC.OutputCh(ch, APM_RC.InputCh(ch));
}
}
}

6
ArduPlane/system.pde
View File

@ -46,6 +46,9 @@ MENU(main_menu, THISFIRMWARE, main_menu_commands);
// the user wants the CLI. It never exits
static void run_cli(void)
{
// disable the failsafe code in the CLI
timer_scheduler.set_failsafe(NULL);
while (1) {
main_menu.run();
}
@ -119,9 +122,8 @@ static void init_ardupilot()
// Initialize the timer scheduler to use the ISR registry.
//
#if HIL_MODE != HIL_MODE_ATTITUDE
timer_scheduler.init( & isr_registry );
#endif
timer_scheduler.set_failsafe(failsafe_check);
//
// Check the EEPROM format version before loading any parameters from EEPROM.