Plane: changes for AP_AdvancedFailsafe naming

ArduPlane/ArduPlane.cpp

@@ -50,7 +50,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(read_airspeed,          10,    100),
     SCHED_TASK(update_alt,             10,    200),
     SCHED_TASK(adjust_altitude_target, 10,    200),
-    SCHED_TASK(obc_fs_check,           10,    100),
+    SCHED_TASK(afs_fs_check,           10,    100),
     SCHED_TASK(gcs_update,             50,    500),
     SCHED_TASK(gcs_data_stream_send,   50,    500),
     SCHED_TASK(update_events,          50,    150),
@@ -286,14 +286,12 @@ void Plane::update_logging2(void)
 
 
 /*
-  check for OBC failsafe check
+  check for AFS failsafe check
  */
-void Plane::obc_fs_check(void)
+void Plane::afs_fs_check(void)
 {
-#if OBC_FAILSAFE == ENABLED
+    // perform AFS failsafe checks
-    // perform OBC failsafe checks
+    afs.check(AFS_MODE_PLANE(control_mode), failsafe.last_heartbeat_ms, geofence_breached(), failsafe.AFS_last_valid_rc_ms);
-    obc.check(OBC_MODE(control_mode), failsafe.last_heartbeat_ms, geofence_breached(), failsafe.AFS_last_valid_rc_ms);
-#endif
 }
 
 

ArduPlane/Attitude.cpp

@@ -1219,12 +1219,10 @@ void Plane::set_servos(void)
         }
     }
 
-#if OBC_FAILSAFE == ENABLED
     // this is to allow the failsafe module to deliberately crash 
     // the plane. Only used in extreme circumstances to meet the
     // OBC rules
-    obc.check_crash_plane();
+    afs.check_crash_plane();
-#endif
 
 #if HIL_SUPPORT
     if (g.hil_mode == 1) {

ArduPlane/Parameters.cpp

@@ -1315,11 +1315,9 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(sitl, "SIM_", SITL::SITL),
 #endif
 
-#if OBC_FAILSAFE == ENABLED
     // @Group: AFS_
-    // @Path: ../libraries/APM_OBC/APM_OBC.cpp
+    // @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
-    GOBJECT(obc,  "AFS_", APM_OBC),
+    GOBJECT(afs,  "AFS_", AP_AdvancedFailsafe),
-#endif
 
 #if OPTFLOW == ENABLED
     // @Group: FLOW

ArduPlane/Parameters.h

@@ -321,7 +321,7 @@ public:
 
         // other objects
         k_param_sitl = 230,
-        k_param_obc,
+        k_param_afs,
         k_param_rollController,
         k_param_pitchController,
         k_param_yawController,

ArduPlane/Plane.h

@@ -53,7 +53,7 @@
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_RPM/AP_RPM.h>
 
-#include <APM_OBC/APM_OBC.h>
+#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
 #include <APM_Control/APM_Control.h>
 #include <APM_Control/AP_AutoTune.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>    // MAVLink GCS definitions
@@ -632,9 +632,7 @@ private:
     AP_ADSB adsb {ahrs};
 
     // Outback Challenge Failsafe Support
-#if OBC_FAILSAFE == ENABLED
+    AP_AdvancedFailsafe afs {mission, barometer, gps, rcmap};
-    APM_OBC obc {mission, barometer, gps, rcmap};
-#endif
 
     /*
       meta data to support counting the number of circles in a loiter
@@ -991,7 +989,7 @@ private:
     void update_GPS_10Hz(void);
     void update_compass(void);
     void update_alt(void);
-    void obc_fs_check(void);
+    void afs_fs_check(void);
     void compass_accumulate(void);
     void compass_cal_update();
     void barometer_accumulate(void);

ArduPlane/config.h

@@ -405,11 +405,6 @@
  # define RESET_SWITCH_CHAN_PWM 1750
 #endif
 
-// OBC Failsafe enable
-#ifndef OBC_FAILSAFE
-#define OBC_FAILSAFE ENABLED
-#endif
-
 #define HIL_SUPPORT ENABLED
 
 //////////////////////////////////////////////////////////////////////////////

ArduPlane/failsafe.cpp

@@ -42,13 +42,11 @@ void Plane::failsafe_check(void)
     if (in_failsafe && tnow - last_timestamp > 20000) {
         last_timestamp = tnow;
 
-#if OBC_FAILSAFE == ENABLED
         if (in_calibration) {
             // tell the failsafe system that we are calibrating
             // sensors, so don't trigger failsafe
-            obc.heartbeat();
+            afs.heartbeat();
         }
-#endif
 
         if (hal.rcin->num_channels() < 5) {
             // we don't have any RC input to pass through
@@ -81,12 +79,10 @@ void Plane::failsafe_check(void)
             channel_output_mixer(g.elevon_output, channel_pitch, channel_roll);
         }
 
-#if OBC_FAILSAFE == ENABLED
         // this is to allow the failsafe module to deliberately crash 
         // the plane. Only used in extreme circumstances to meet the
         // OBC rules
-        obc.check_crash_plane();
+        afs.check_crash_plane();
-#endif
 
         if (!demoing_servos) {
             channel_roll->output();

ArduPlane/make.inc

@@ -18,7 +18,7 @@ LIBRARIES += AP_Relay
 LIBRARIES += AP_Camera
 LIBRARIES += AP_Airspeed
 LIBRARIES += AP_Terrain
-LIBRARIES += APM_OBC
+LIBRARIES += AP_AdvancedFailsafe
 LIBRARIES += APM_Control
 LIBRARIES += AP_AutoTune
 LIBRARIES += GCS

ArduPlane/wscript

@@ -8,7 +8,7 @@ def build(bld):
         ap_vehicle=vehicle,
         ap_libraries=bld.ap_common_vehicle_libraries() + [
             'APM_Control',
-            'APM_OBC',
+            'AP_AdvancedFailsafe',
             'AP_ADSB',
             'AP_Arming',
             'AP_Camera',