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Plane: implement AP_PLANE_BLACKBOX_LOGGING 

this allows for auto-arming of plane when we reach a specified 3D GPS
speed. Used for blackbox logging of F3A maneuvers
This commit is contained in:
Andrew Tridgell 2023-05-11 11:05:34 +10:00
parent e0cf5c5802
commit 6870a15280
2 changed files with 41 additions and 0 deletions
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32
ArduPlane/AP_Arming.cpp
View File

@ -14,6 +14,17 @@ const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = {
// index 3 was RUDDER and should not be used // index 3 was RUDDER and should not be used
#if AP_PLANE_BLACKBOX_LOGGING
// @Param: BBOX_SPD
// @DisplayName: Blackbox speed
// @Description: This is a 3D GPS speed threshold above which we will force arm the vehicle to start logging. WARNING: This should only be used on a vehicle with no propellers attached to the flight controller and when the flight controller is not in control of the vehicle.
// @Units: m/s
// @Increment: 1
// @Range: 1 20
// @User: Advanced
AP_GROUPINFO("BBOX_SPD", 4, AP_Arming_Plane, blackbox_speed, 5),
#endif // AP_PLANE_BLACKBOX_LOGGING
AP_GROUPEND AP_GROUPEND
}; };
@ -387,6 +398,27 @@ void AP_Arming_Plane::update_soft_armed()
delay_arming = false; delay_arming = false;
} }
#if AP_PLANE_BLACKBOX_LOGGING
if (blackbox_speed > 0) {
const float speed3d = plane.gps.status() >= AP_GPS::GPS_OK_FIX_3D?plane.gps.velocity().length():0;
const uint32_t now = AP_HAL::millis();
if (speed3d > blackbox_speed) {
last_over_3dspeed_ms = now;
}
if (!_armed && speed3d > blackbox_speed) {
// force safety on so we don't run motors
hal.rcout->force_safety_on();
AP_Param::set_by_name("RC_PROTOCOLS", 0);
arm(Method::BLACKBOX, false);
gcs().send_text(MAV_SEVERITY_WARNING, "BlackBox: arming at %.1f m/s", speed3d);
}
if (_armed && now - last_over_3dspeed_ms > 20000U) {
gcs().send_text(MAV_SEVERITY_WARNING, "BlackBox: disarming at %.1f m/s", speed3d);
disarm(Method::BLACKBOX, false);
}
}
#endif
} }
/* /*

9
ArduPlane/AP_Arming.h
View File

@ -2,6 +2,10 @@
#include <AP_Arming/AP_Arming.h> #include <AP_Arming/AP_Arming.h>
#ifndef AP_PLANE_BLACKBOX_LOGGING
#define AP_PLANE_BLACKBOX_LOGGING 0
#endif
/* /*
a plane specific arming class a plane specific arming class
*/ */
@ -48,4 +52,9 @@ private:
// oneshot with duration AP_ARMING_DELAY_MS used by quadplane to delay spoolup after arming: // oneshot with duration AP_ARMING_DELAY_MS used by quadplane to delay spoolup after arming:
// ignored unless OPTION_DELAY_ARMING or OPTION_TILT_DISARMED is set // ignored unless OPTION_DELAY_ARMING or OPTION_TILT_DISARMED is set
bool delay_arming; bool delay_arming;
#if AP_PLANE_BLACKBOX_LOGGING
AP_Float blackbox_speed;
uint32_t last_over_3dspeed_ms;
#endif
}; };