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Copter: Add Radio Failsafe Brake option

This commit is contained in:
Leonard Hall 2023-03-07 12:11:50 +10:30 committed by Peter Barker
parent 0c2fc6165a
commit 5a178984c4
4 changed files with 26 additions and 2 deletions
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4
ArduCopter/Copter.h
View File

@ -605,7 +605,8 @@ private:
SMARTRTL = 3, SMARTRTL = 3,
SMARTRTL_LAND = 4, SMARTRTL_LAND = 4,
TERMINATE = 5, TERMINATE = 5,
AUTO_DO_LAND_START = 6 AUTO_DO_LAND_START = 6,
BRAKE_LAND = 7
}; };
enum class FailsafeOption { enum class FailsafeOption {
@ -774,6 +775,7 @@ private:
void set_mode_SmartRTL_or_RTL(ModeReason reason); void set_mode_SmartRTL_or_RTL(ModeReason reason);
void set_mode_SmartRTL_or_land_with_pause(ModeReason reason); void set_mode_SmartRTL_or_land_with_pause(ModeReason reason);
void set_mode_auto_do_land_start_or_RTL(ModeReason reason); void set_mode_auto_do_land_start_or_RTL(ModeReason reason);
void set_mode_brake_or_land_with_pause(ModeReason reason);
bool should_disarm_on_failsafe(); bool should_disarm_on_failsafe();
void do_failsafe_action(FailsafeAction action, ModeReason reason); void do_failsafe_action(FailsafeAction action, ModeReason reason);
void announce_failsafe(const char *type, const char *action_undertaken=nullptr); void announce_failsafe(const char *type, const char *action_undertaken=nullptr);

2
ArduCopter/Parameters.cpp
View File

@ -226,7 +226,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Param: FS_THR_ENABLE // @Param: FS_THR_ENABLE
// @DisplayName: Throttle Failsafe 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 // @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 always RTL,2:Enabled Continue with Mission in Auto Mode (Removed in 4.0+),3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land,6:Enabled Auto DO_LAND_START or RTL // @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode (Removed in 4.0+),3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land,6:Enabled Auto DO_LAND_START or RTL,7:Enabled always Brake or Land
// @User: Standard // @User: Standard
GSCALAR(failsafe_throttle, "FS_THR_ENABLE", FS_THR_ENABLED_ALWAYS_RTL), GSCALAR(failsafe_throttle, "FS_THR_ENABLE", FS_THR_ENABLED_ALWAYS_RTL),

1
ArduCopter/defines.h
View File

@ -141,6 +141,7 @@ enum LoggingParameters {
#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL 4 #define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL 4
#define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND 5 #define FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND 5
#define FS_THR_ENABLED_AUTO_RTL_OR_RTL 6 #define FS_THR_ENABLED_AUTO_RTL_OR_RTL 6
#define FS_THR_ENABLED_BRAKE_OR_LAND 7
// GCS failsafe definitions (FS_GCS_ENABLE parameter) // GCS failsafe definitions (FS_GCS_ENABLE parameter)
#define FS_GCS_DISABLED 0 #define FS_GCS_DISABLED 0

21
ArduCopter/events.cpp
View File

@ -36,6 +36,9 @@ void Copter::failsafe_radio_on_event()
case FS_THR_ENABLED_AUTO_RTL_OR_RTL: case FS_THR_ENABLED_AUTO_RTL_OR_RTL:
desired_action = FailsafeAction::AUTO_DO_LAND_START; desired_action = FailsafeAction::AUTO_DO_LAND_START;
break; break;
case FS_THR_ENABLED_BRAKE_OR_LAND:
desired_action = FailsafeAction::BRAKE_LAND;
break;
default: default:
desired_action = FailsafeAction::LAND; desired_action = FailsafeAction::LAND;
} }
@ -425,6 +428,21 @@ void Copter::set_mode_auto_do_land_start_or_RTL(ModeReason reason)
set_mode_RTL_or_land_with_pause(reason); set_mode_RTL_or_land_with_pause(reason);
} }
// Sets mode to Brake or LAND with 4 second delay before descent starts
// This can come from failsafe or RC option
void Copter::set_mode_brake_or_land_with_pause(ModeReason reason)
{
#if MODE_BRAKE_ENABLED == ENABLED
if (set_mode(Mode::Number::BRAKE, reason)) {
AP_Notify::events.failsafe_mode_change = 1;
return;
}
#endif
gcs().send_text(MAV_SEVERITY_WARNING, "Trying Land Mode");
set_mode_land_with_pause(reason);
}
bool Copter::should_disarm_on_failsafe() { bool Copter::should_disarm_on_failsafe() {
if (ap.in_arming_delay) { if (ap.in_arming_delay) {
return true; return true;
@ -476,6 +494,9 @@ void Copter::do_failsafe_action(FailsafeAction action, ModeReason reason){
case FailsafeAction::AUTO_DO_LAND_START: case FailsafeAction::AUTO_DO_LAND_START:
set_mode_auto_do_land_start_or_RTL(reason); set_mode_auto_do_land_start_or_RTL(reason);
break; break;
case FailsafeAction::BRAKE_LAND:
set_mode_brake_or_land_with_pause(reason);
break;
} }
#if AP_GRIPPER_ENABLED #if AP_GRIPPER_ENABLED