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Rover: remove dead gcs failsafe code 

Also use rc().has_valid_input() before using radio for trim
This commit is contained in:
Peter Barker 2018-08-01 20:39:27 +10:00 committed by Randy Mackay
parent 66525ab0f9
commit 5d923aed85
6 changed files with 12 additions and 26 deletions
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6
APMrover2/GCS_Mavlink.cpp
View File

@ -780,8 +780,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
RC_Channels::set_override(6, packet.chan7_raw, tnow);
RC_Channels::set_override(7, packet.chan8_raw, tnow);
rover.failsafe.rc_override_timer = tnow;
rover.failsafe_trigger(FAILSAFE_EVENT_RC, false);
break;
}
@ -805,8 +803,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
RC_Channels::set_override(uint8_t(rover.rcmap.roll() - 1), roll, tnow);
RC_Channels::set_override(uint8_t(rover.rcmap.throttle() - 1), throttle, tnow);
rover.failsafe.rc_override_timer = tnow;
rover.failsafe_trigger(FAILSAFE_EVENT_RC, false);
break;
}
@ -817,7 +813,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
break;
}
rover.last_heartbeat_ms = rover.failsafe.rc_override_timer = AP_HAL::millis();
rover.last_heartbeat_ms = AP_HAL::millis();
rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false);
break;
}

3
APMrover2/RC_Channel.cpp
View File

@ -100,9 +100,6 @@ bool RC_Channels_Rover::has_valid_input() const
if (rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
return false;
}
if (rover.failsafe.bits & FAILSAFE_EVENT_RC) {
return false;
}
return true;
}

9
APMrover2/RC_Channel.h
View File

@ -26,13 +26,13 @@ private:
class RC_Channels_Rover : public RC_Channels
{
bool has_valid_input() const override;
int8_t flight_mode_channel_number() const override;
public:
bool has_valid_input() const override;
RC_Channel_Rover obj_channels[NUM_RC_CHANNELS];
RC_Channel_Rover *channel(const uint8_t chan) override {
if (chan > NUM_RC_CHANNELS) {
return nullptr;
@ -40,4 +40,7 @@ public:
return &obj_channels[chan];
}
private:
int8_t flight_mode_channel_number() const override;
};

4
APMrover2/Rover.h
View File

@ -247,16 +247,12 @@ private:
// This is set to -1 when we need to re-read the switch
uint8_t oldSwitchPosition;
// A flag if GCS joystick control is in use
bool rc_override_active;
// Failsafe
// A tracking variable for type of failsafe active
// Used for failsafe based on loss of RC signal or GCS signal. See
// FAILSAFE_EVENT_*
struct {
uint8_t bits;
uint32_t rc_override_timer;
uint32_t start_time;
uint8_t triggered;
uint32_t last_valid_rc_ms;

1
APMrover2/defines.h
View File

@ -20,7 +20,6 @@
// types of failsafe events
#define FAILSAFE_EVENT_THROTTLE (1<<0)
#define FAILSAFE_EVENT_GCS (1<<1)
#define FAILSAFE_EVENT_RC (1<<2)
// Logging parameters
#define LOG_THR_MSG 0x01

15
APMrover2/radio.cpp
View File

@ -124,21 +124,16 @@ void Rover::control_failsafe(uint16_t pwm)
return;
}
// Check for failsafe condition based on loss of GCS control
if (rc_override_active) {
failsafe_trigger(FAILSAFE_EVENT_RC, (millis() - failsafe.rc_override_timer) > 1500);
} else if (g.fs_throttle_enabled) {
bool failed = pwm < static_cast<uint16_t>(g.fs_throttle_value);
if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 2000) {
failed = true;
}
failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed);
bool failed = pwm < static_cast<uint16_t>(g.fs_throttle_value);
if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 2000) {
failed = true;
}
failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed);
}
bool Rover::trim_radio()
{
if (failsafe.bits & FAILSAFE_EVENT_RC) {
if (!rc().has_valid_input()) {
// can't trim without valid input
return false;
}