Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-28 19:48:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

Sub: Add some comments to describe failsafe functions

Browse Source
This commit is contained in:
Jacob Walser 2017-03-24 14:44:10 -04:00
parent 45328f220c
commit 4465d4ba69
1 changed files with 19 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
ArduSub/failsafe.cpp
View File

@ -1,37 +1,31 @@
#include "Sub.h"
//
// failsafe support
// Andrew Tridgell, December 2011
//
// our failsafe strategy is to detect main loop lockup and disarm the motors
//
/*
* failsafe.cpp
* Failsafe checks and actions
*/
static bool failsafe_enabled = false;
static uint16_t failsafe_last_mainLoop_count;
static uint32_t failsafe_last_timestamp;
static bool in_failsafe;
//
// failsafe_enable - enable failsafe
//
// Enable mainloop lockup failsafe
void Sub::failsafe_enable()
{
failsafe_enabled = true;
failsafe_last_timestamp = micros();
}
//
// failsafe_disable - used when we know we are going to delay the mainloop significantly
//
// Disable mainloop lockup failsafe
// Used when we know we are going to delay the mainloop significantly.
void Sub::failsafe_disable()
{
failsafe_enabled = false;
}
//
// failsafe_check - this function is called from the core timer interrupt at 1kHz.
//
// This function is called from the core timer interrupt at 1kHz.
// This checks that the mainloop is running, and has not locked up.
void Sub::failsafe_check()
{
uint32_t tnow = AP_HAL::micros();
@ -71,6 +65,7 @@ void Sub::failsafe_check()
}
// Battery failsafe check
// Check the battery voltage and remaining capacity
void Sub::failsafe_battery_check(void)
{
// Do nothing if the failsafe is disabled, or if we are disarmed
@ -115,6 +110,8 @@ void Sub::failsafe_battery_check(void)
}
}
// MANUAL_CONTROL failsafe check
// Make sure that we are receiving MANUAL_CONTROL at an appropriate interval
void Sub::failsafe_manual_control_check()
{
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
@ -136,6 +133,9 @@ void Sub::failsafe_manual_control_check()
#endif
}
// Internal pressure failsafe check
// Check if the internal pressure of the watertight electronics enclosure
// has exceeded the maximum specified by the FS_PRESS_MAX parameter
void Sub::failsafe_internal_pressure_check()
{
@ -165,6 +165,9 @@ void Sub::failsafe_internal_pressure_check()
}
}
// Internal temperature failsafe check
// Check if the internal temperature of the watertight electronics enclosure
// has exceeded the maximum specified by the FS_TEMP_MAX parameter
void Sub::failsafe_internal_temperature_check()
{
@ -194,6 +197,7 @@ void Sub::failsafe_internal_temperature_check()
}
}
// Check if we are leaking and perform appropiate action
void Sub::failsafe_leak_check()
{
bool status = leak_detector.get_status();