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Copter: reject reboot request from GCS if auto esc cal on next reboot

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this resolves an edge case in which the motors could spin up on the next reboot because the user didn't unplug the battery to reboot the flight controller
This commit is contained in:
Randy Mackay 2019-10-04 18:08:35 +09:00
parent 7ce2fb8783
commit 36327d56de
4 changed files with 33 additions and 21 deletions
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9
ArduCopter/Copter.h
View File

@ -588,6 +588,15 @@ private:
static const AP_Param::Info var_info[];
static const struct LogStructure log_structure[];
// enum for ESC CALIBRATION
enum ESCCalibrationModes : uint8_t {
ESCCAL_NONE = 0,
ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH = 1,
ESCCAL_PASSTHROUGH_ALWAYS = 2,
ESCCAL_AUTO = 3,
ESCCAL_DISABLED = 9,
};
enum Failsafe_Action {
Failsafe_Action_None = 0,
Failsafe_Action_Land = 1,

12
ArduCopter/GCS_Mavlink.cpp
View File

@ -558,6 +558,18 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_do_set_roi(const Location &roi_loc
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK_Copter::handle_preflight_reboot(const mavlink_command_long_t &packet)
{
// reject reboot if user has also specified they want the "Auto" ESC calibration on next reboot
if (copter.g.esc_calibrate == (uint8_t)Copter::ESCCalibrationModes::ESCCAL_AUTO) {
send_text(MAV_SEVERITY_CRITICAL, "Reboot rejected, ESC cal on reboot");
return MAV_RESULT_FAILED;
}
// call parent
return GCS_MAVLINK::handle_preflight_reboot(packet);
}
bool GCS_MAVLINK_Copter::set_home_to_current_location(bool lock) {
return copter.set_home_to_current_location(lock);
}

2
ArduCopter/GCS_Mavlink.h
View File

@ -29,7 +29,7 @@ protected:
void send_position_target_local_ned() override;
MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;

29
ArduCopter/esc_calibration.cpp
View File

@ -6,15 +6,6 @@
#define ESC_CALIBRATION_HIGH_THROTTLE 950
// enum for ESC CALIBRATION
enum ESCCalibrationModes {
ESCCAL_NONE = 0,
ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH = 1,
ESCCAL_PASSTHROUGH_ALWAYS = 2,
ESCCAL_AUTO = 3,
ESCCAL_DISABLED = 9,
};
// check if we should enter esc calibration mode
void Copter::esc_calibration_startup_check()
{
@ -34,19 +25,19 @@ void Copter::esc_calibration_startup_check()
// exit immediately if pre-arm rc checks fail
if (!arming.rc_calibration_checks(true)) {
// clear esc flag for next time
if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) {
g.esc_calibrate.set_and_save(ESCCAL_NONE);
if ((g.esc_calibrate != ESCCalibrationModes::ESCCAL_NONE) && (g.esc_calibrate != ESCCalibrationModes::ESCCAL_DISABLED)) {
g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_NONE);
}
return;
}
// check ESC parameter
switch (g.esc_calibrate) {
case ESCCAL_NONE:
case ESCCalibrationModes::ESCCAL_NONE:
// check if throttle is high
if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
// we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
// send message to gcs
gcs().send_text(MAV_SEVERITY_CRITICAL,"ESC calibration: Restart board");
// turn on esc calibration notification
@ -55,30 +46,30 @@ void Copter::esc_calibration_startup_check()
while(1) { hal.scheduler->delay(5); }
}
break;
case ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH:
case ESCCalibrationModes::ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH:
// check if throttle is high
if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
// pass through pilot throttle to escs
esc_calibration_passthrough();
}
break;
case ESCCAL_PASSTHROUGH_ALWAYS:
case ESCCalibrationModes::ESCCAL_PASSTHROUGH_ALWAYS:
// pass through pilot throttle to escs
esc_calibration_passthrough();
break;
case ESCCAL_AUTO:
case ESCCalibrationModes::ESCCAL_AUTO:
// perform automatic ESC calibration
esc_calibration_auto();
break;
case ESCCAL_DISABLED:
case ESCCalibrationModes::ESCCAL_DISABLED:
default:
// do nothing
break;
}
// clear esc flag for next time
if (g.esc_calibrate != ESCCAL_DISABLED) {
g.esc_calibrate.set_and_save(ESCCAL_NONE);
if (g.esc_calibrate != ESCCalibrationModes::ESCCAL_DISABLED) {
g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_NONE);
}
#endif // FRAME_CONFIG != HELI_FRAME
}