ArduCopter: rename throttle failsafe parameters.

Switch to LAND flight mode if throttle failsafe triggers and we do not have a GPS.
THR_FAILSAFE renamed to FS_THR_ENABLE.
THR_FS_VALUE renamed to FS_THR_VALUE.
THR_FS_ACTION removed (action is now controlled by setting FS_THR parameter).

ArduCopter/Parameters.h

@@ -172,9 +172,9 @@ public:
         k_param_rc_11,
         k_param_throttle_min,
         k_param_throttle_max,
-        k_param_throttle_fs_enabled,
+        k_param_failsafe_throttle,
-        k_param_throttle_fs_action,
+        k_param_throttle_fs_action,     // remove
-        k_param_throttle_fs_value,
+        k_param_failsafe_throttle_value,
         k_param_throttle_cruise,
         k_param_esc_calibrate,
         k_param_radio_tuning,
@@ -290,9 +290,8 @@ public:
     //
     AP_Int16        throttle_min;
     AP_Int16        throttle_max;
-    AP_Int8         throttle_fs_enabled;
+    AP_Int8         failsafe_throttle;
-    AP_Int8         throttle_fs_action;
+    AP_Int16        failsafe_throttle_value;
-    AP_Int16        throttle_fs_value;
     AP_Int16        throttle_cruise;
 
     // Flight modes

ArduCopter/Parameters.pde

@@ -281,20 +281,18 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
     GSCALAR(throttle_max,   "THR_MAX",          MAXIMUM_THROTTLE),
 
-    // @Param: THR_FAILSAFE
+    // @Param: FS_THR_ENABLE
     // @DisplayName: Throttle Failsafe Enable
     // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
-    // @Values: 0:Disabled,1:Enabled
+    // @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode
     // @User: Standard
-    GSCALAR(throttle_fs_enabled,    "THR_FAILSAFE", THROTTLE_FAILSAFE),
+    GSCALAR(failsafe_throttle,  "FS_THR_ENABLE",   FS_THR_DISABLED),
 
-    GSCALAR(throttle_fs_action,     "THR_FS_ACTION",    THROTTLE_FAILSAFE_ACTION),
+    // @Param: FS_THR_VALUE
-
-    // @Param: THR_FS_VALUE
     // @DisplayName: Throttle Failsafe Value
     // @Description: The PWM level on channel 3 below which throttle sailsafe triggers
     // @User: Standard
-    GSCALAR(throttle_fs_value, "THR_FS_VALUE",      THROTTLE_FS_VALUE),
+    GSCALAR(failsafe_throttle_value, "FS_THR_VALUE",      FS_THR_VALUE_DEFAULT),
 
     // @Param: TRIM_THROTTLE
     // @DisplayName: Throttle Trim

ArduCopter/commands_logic.pde

@@ -294,11 +294,11 @@ static void do_nav_wp()
 // do_land - initiate landing procedure
 static void do_land()
 {
-    wp_control = LOITER_MODE;
-    set_throttle_mode(THROTTLE_LAND);
-
     // hold at our current location
     set_next_WP(&current_loc);
+    wp_control = LOITER_MODE;
+
+    set_throttle_mode(THROTTLE_LAND);
 }
 
 static void do_loiter_unlimited()

ArduCopter/config.h

@@ -414,22 +414,17 @@
 
 
 //////////////////////////////////////////////////////////////////////////////
-// THROTTLE_FAILSAFE
+// Throttle Failsafe
-// THROTTLE_FS_VALUE
-// THROTTLE_FAILSAFE_ACTION
 //
-#ifndef THROTTLE_FAILSAFE
+// possible values for FS_THR parameter
- # define THROTTLE_FAILSAFE                      DISABLED
+#define FS_THR_DISABLED                    0
-#endif
+#define FS_THR_ENABLED_ALWAYS_RTL          1
-#ifndef THROTTE_FS_VALUE
+#define FS_THR_ENABLED_CONTINUE_MISSION    2
- # define THROTTLE_FS_VALUE                      975
+
+#ifndef FS_THR_VALUE_DEFAULT
+ # define FS_THR_VALUE_DEFAULT             975
 #endif
 
-#define THROTTLE_FAILSAFE_ACTION_ALWAYS_RTL         1
-#define THROTTLE_FAILSAFE_ACTION_CONTINUE_MISSION   2
-#ifndef THROTTLE_FAILSAFE_ACTION
- # define THROTTLE_FAILSAFE_ACTION                  THROTTLE_FAILSAFE_ACTION_CONTINUE_MISSION
-#endif
 
 #ifndef MINIMUM_THROTTLE
  # define MINIMUM_THROTTLE       130

ArduCopter/events.pde

@@ -21,21 +21,17 @@ static void failsafe_on_event()
             }else if(ap.home_is_set == true) {
                 set_mode(RTL);
             }else{
-                // We have no GPS so we will crash land in alt hold mode
+                // We have no GPS so we will land
-                // the low throttle will bring us down at the maximum
+                set_mode(LAND);
-                // the low throttle will bring us down at the maximum descent speed
-                // To-Do: make LAND a throttle mode so it can operate without GPS
-                set_mode(ALT_HOLD);
-                set_new_altitude(0);
             }
             break;
         case AUTO:
-            // throttle_fs_action is 1 do RTL, everything else means continue with the mission
+            // failsafe_throttle is 1 do RTL, 2 means continue with the mission
-            if (g.throttle_fs_action == THROTTLE_FAILSAFE_ACTION_ALWAYS_RTL) {
+            if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_RTL) {
                 // To-Do: check distance from home before initiating RTL
                 set_mode(RTL);
             }
-            // if throttle_fs_action is 2 (i.e. THROTTLE_FAILSAFE_ACTION_CONTINUE_MISSION) no need to do anything
+            // if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
             break;
         default:
             if(ap.home_is_set == true) {

ArduCopter/radio.pde

@@ -147,7 +147,7 @@ static void read_radio()
 #endif
     }else{
         // turn on throttle failsafe if no update from ppm encoder for 2 seconds
-        if ((millis() - APM_RC.get_last_update() >= RADIO_FS_TIMEOUT_MS) && g.throttle_fs_enabled && motors.armed() && !ap.failsafe) {
+        if ((millis() - APM_RC.get_last_update() >= RADIO_FS_TIMEOUT_MS) && g.failsafe_throttle && motors.armed() && !ap.failsafe) {
             set_failsafe(true);
         }
     }
@@ -159,13 +159,13 @@ static void set_throttle_and_failsafe(uint16_t throttle_pwm)
     static int8_t failsafe_counter = 0;
 
     // if failsafe not enabled pass through throttle and exit
-    if(g.throttle_fs_enabled == 0) {
+    if(g.failsafe_throttle == FS_THR_DISABLED) {
         g.rc_3.set_pwm(throttle_pwm);
         return;
     }
 
     //check for low throttle value
-    if (throttle_pwm < (uint16_t)g.throttle_fs_value) {
+    if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) {
 
         // if we are already in failsafe or motors not armed pass through throttle and exit
         if (ap.failsafe || !motors.armed()) {

ArduCopter/test.pde

@@ -309,7 +309,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
  *                       fail_test++;
  *               }
  *
- *               if(g.throttle_fs_enabled && g.rc_3.get_failsafe()){
+ *               if(g.failsafe_throttle && g.rc_3.get_failsafe()){
  *                       cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), g.rc_3.radio_in);
  *                       cliSerial->println(flight_mode_strings[readSwitch()]);
  *                       fail_test++;