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Rover: Using a new method to check for throttle failsafe

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This method checks for throttle reversal.
This commit is contained in:
Grant Morphett 2015-09-07 13:51:01 +10:00 committed by Andrew Tridgell
parent 122e88dbed
commit 571b4478fd
3 changed files with 21 additions and 1 deletions
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1
APMrover2/Rover.h
View File

@ -456,6 +456,7 @@ private:
void init_rc_out();
void read_radio();
void control_failsafe(uint16_t pwm);
bool throttle_failsafe_active();
void trim_control_surfaces();
void trim_radio();
void init_barometer(void);

19
APMrover2/radio.cpp
View File

@ -116,6 +116,25 @@ void Rover::control_failsafe(uint16_t pwm)
}
}
/*
return true if throttle level is below throttle failsafe threshold
or RC input is invalid
*/
bool Rover::throttle_failsafe_active(void)
{
if (!g.fs_throttle_enabled) {
return false;
}
if (millis() - failsafe.last_valid_rc_ms > 1000) {
// we haven't had a valid RC frame for 1 seconds
return true;
}
if (channel_throttle->get_reverse()) {
return channel_throttle->radio_in >= g.fs_throttle_value;
}
return channel_throttle->radio_in <= g.fs_throttle_value;
}
void Rover::trim_control_surfaces()
{
read_radio();

2
APMrover2/test.cpp
View File

@ -171,7 +171,7 @@ int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
fail_test++;
}
if(g.fs_throttle_enabled && (channel_throttle->radio_in < g.fs_throttle_value)) {
if(throttle_failsafe_active()) {
cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), channel_throttle->radio_in);
print_mode(cliSerial, readSwitch());
cliSerial->println();