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Copter: failsafe RTL vs LAND decision always based on 2m

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Previously this decision was based on the WPNAV_RADIUS parameter which is unexpected (and undocumented) behaviour.  Better just to hard-code it to 2m and remove the dependency on this parameter.
This commit is contained in:
Randy Mackay 2015-08-23 11:03:15 +09:00
parent d00f9b61b4
commit 58774222c3
2 changed files with 17 additions and 13 deletions
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12
ArduCopter/config.h
View File

@ -238,6 +238,11 @@
# define FS_GCS_TIMEOUT_MS 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat # define FS_GCS_TIMEOUT_MS 5000 // gcs failsafe triggers after 5 seconds with no GCS heartbeat
#endif #endif
// possible values for FS_GCS parameter
#define FS_GCS_DISABLED 0
#define FS_GCS_ENABLED_ALWAYS_RTL 1
#define FS_GCS_ENABLED_CONTINUE_MISSION 2
// Radio failsafe while using RC_override // Radio failsafe while using RC_override
#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS #ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station # define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS 1000 // RC Radio failsafe triggers after 1 second while using RC_override from ground station
@ -248,10 +253,9 @@
#define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 miliseconds with No RC Input #define FS_RADIO_TIMEOUT_MS 500 // RC Radio Failsafe triggers after 500 miliseconds with No RC Input
#endif #endif
// possible values for FS_GCS parameter #ifndef FS_CLOSE_TO_HOME_CM
#define FS_GCS_DISABLED 0 # define FS_CLOSE_TO_HOME_CM 200 // if vehicle within 2m of home, vehicle will LAND instead of RTL during some failsafes
#define FS_GCS_ENABLED_ALWAYS_RTL 1 #endif
#define FS_GCS_ENABLED_CONTINUE_MISSION 2
// pre-arm baro vs inertial nav max alt disparity // pre-arm baro vs inertial nav max alt disparity
#ifndef PREARM_MAX_ALT_DISPARITY_CM #ifndef PREARM_MAX_ALT_DISPARITY_CM

18
ArduCopter/events.cpp
View File

@ -26,7 +26,7 @@ void Copter::failsafe_radio_on_event()
set_mode_land_with_pause(); set_mode_land_with_pause();
// if far from home then RTL // if far from home then RTL
}else if(home_distance > wp_nav.get_wp_radius()) { } else if(home_distance > FS_CLOSE_TO_HOME_CM) {
// switch to RTL or if that fails, LAND // switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause(); set_mode_RTL_or_land_with_pause();
@ -47,7 +47,7 @@ void Copter::failsafe_radio_on_event()
// if failsafe_throttle is FS_THR_ENABLED_ALWAYS_RTL do RTL // if failsafe_throttle is FS_THR_ENABLED_ALWAYS_RTL do RTL
} else if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_RTL) { } else if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_RTL) {
if(home_distance > wp_nav.get_wp_radius()) { if (home_distance > FS_CLOSE_TO_HOME_CM) {
// switch to RTL or if that fails, LAND // switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause(); set_mode_RTL_or_land_with_pause();
}else{ }else{
@ -75,7 +75,7 @@ void Copter::failsafe_radio_on_event()
set_mode_land_with_pause(); set_mode_land_with_pause();
// if far from home then RTL // if far from home then RTL
}else if(home_distance > wp_nav.get_wp_radius()) { } else if(home_distance > FS_CLOSE_TO_HOME_CM) {
// switch to RTL or if that fails, LAND // switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause(); set_mode_RTL_or_land_with_pause();
}else{ }else{
@ -117,7 +117,7 @@ void Copter::failsafe_battery_event(void)
init_disarm_motors(); init_disarm_motors();
}else{ }else{
// set mode to RTL or LAND // set mode to RTL or LAND
if (g.failsafe_battery_enabled == FS_BATT_RTL && home_distance > wp_nav.get_wp_radius()) { if (g.failsafe_battery_enabled == FS_BATT_RTL && home_distance > FS_CLOSE_TO_HOME_CM) {
// switch to RTL or if that fails, LAND // switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause(); set_mode_RTL_or_land_with_pause();
}else{ }else{
@ -131,7 +131,7 @@ void Copter::failsafe_battery_event(void)
init_disarm_motors(); init_disarm_motors();
// set mode to RTL or LAND // set mode to RTL or LAND
} else if (home_distance > wp_nav.get_wp_radius()) { } else if (home_distance > FS_CLOSE_TO_HOME_CM) {
// switch to RTL or if that fails, LAND // switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause(); set_mode_RTL_or_land_with_pause();
} else { } else {
@ -145,7 +145,7 @@ void Copter::failsafe_battery_event(void)
init_disarm_motors(); init_disarm_motors();
// set mode to RTL or LAND // set mode to RTL or LAND
} else if (g.failsafe_battery_enabled == FS_BATT_RTL && home_distance > wp_nav.get_wp_radius()) { } else if (g.failsafe_battery_enabled == FS_BATT_RTL && home_distance > FS_CLOSE_TO_HOME_CM) {
// switch to RTL or if that fails, LAND // switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause(); set_mode_RTL_or_land_with_pause();
} else { } else {
@ -212,7 +212,7 @@ void Copter::failsafe_gcs_check()
// if throttle is zero disarm motors // if throttle is zero disarm motors
if (ap.throttle_zero || ap.land_complete) { if (ap.throttle_zero || ap.land_complete) {
init_disarm_motors(); init_disarm_motors();
}else if(home_distance > wp_nav.get_wp_radius()) { }else if(home_distance > FS_CLOSE_TO_HOME_CM) {
// switch to RTL or if that fails, LAND // switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause(); set_mode_RTL_or_land_with_pause();
}else{ }else{
@ -226,7 +226,7 @@ void Copter::failsafe_gcs_check()
init_disarm_motors(); init_disarm_motors();
// if g.failsafe_gcs is 1 do RTL, 2 means continue with the mission // if g.failsafe_gcs is 1 do RTL, 2 means continue with the mission
} else if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_RTL) { } else if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_RTL) {
if (home_distance > wp_nav.get_wp_radius()) { if (home_distance > FS_CLOSE_TO_HOME_CM) {
// switch to RTL or if that fails, LAND // switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause(); set_mode_RTL_or_land_with_pause();
}else{ }else{
@ -241,7 +241,7 @@ void Copter::failsafe_gcs_check()
// if landed disarm // if landed disarm
if (ap.land_complete) { if (ap.land_complete) {
init_disarm_motors(); init_disarm_motors();
} else if (home_distance > wp_nav.get_wp_radius()) { } else if (home_distance > FS_CLOSE_TO_HOME_CM) {
// switch to RTL or if that fails, LAND // switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause(); set_mode_RTL_or_land_with_pause();
}else{ }else{