Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

ArduCopter: rename throttle failsafe parameters.

Browse Source 
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).
This commit is contained in:
rmackay9 2012-12-10 23:38:43 +09:00
parent 0b815d9afb
commit 44773d1f2a
7 changed files with 30 additions and 42 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ArduCopter/Parameters.h
View File

@ -172,9 +172,9 @@ public:
k_param_rc_11,
k_param_throttle_min,
k_param_throttle_max,
k_param_throttle_fs_enabled,
k_param_throttle_fs_action,
k_param_throttle_fs_value,
k_param_failsafe_throttle,
k_param_throttle_fs_action, // remove
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 throttle_fs_action;
AP_Int16 throttle_fs_value;
AP_Int8 failsafe_throttle;
AP_Int16 failsafe_throttle_value;
AP_Int16 throttle_cruise;
// Flight modes

12
ArduCopter/Parameters.pde
View File

@ -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: THR_FS_VALUE
// @Param: FS_THR_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

6
ArduCopter/commands_logic.pde
View File

@ -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()

21
ArduCopter/config.h
View File

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

14
ArduCopter/events.pde
View File

@ -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
// the low throttle will bring us down at the maximum
// 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);
// We have no GPS so we will land
set_mode(LAND);
}
break;
case AUTO:
// throttle_fs_action is 1 do RTL, everything else means continue with the mission
if (g.throttle_fs_action == THROTTLE_FAILSAFE_ACTION_ALWAYS_RTL) {
// failsafe_throttle is 1 do RTL, 2 means continue with the mission
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) {

6
ArduCopter/radio.pde
View File

@ -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()) {

2
ArduCopter/test.pde
View File

@ -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++;