mirror of https://github.com/ArduPilot/ardupilot
ArduPPM: throttle failsafe is now triggered on single channel loss but recovery from the throttle low is possible
This commit is contained in:
Julian Oes
parent
f7f408b569
commit
71b2c3e13d
|
|
@ -35,11 +35,12 @@
|
|||
// 0.9.85 : Added brownout reset detection flag
|
||||
// 0.9.86 : Added a #define to disable Radio Passthrough mode (hardware failsafe for Arduplane)
|
||||
// 0.9.87 : #define correction for radio passthrough (was screwed up).
|
||||
// 0.9.88 : LED fail-safe indication is on whenever throttle is low
|
||||
// ------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
// PREPROCESSOR DIRECTIVES
|
||||
// ------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
|
||||
#include "..\Libraries\PPM_Encoder.h"
|
||||
#include "../Libraries/PPM_Encoder.h"
|
||||
#include <util/delay.h>
|
||||
|
||||
|
||||
|
|
@ -47,7 +48,7 @@
|
|||
#define ERROR_DETECTION_WINDOW 3000 * LOOP_TIMER_10MS // Detection window for error detection (default to 30s)
|
||||
#define ERROR_CONDITION_DELAY 500 * LOOP_TIMER_10MS // Servo error condition LED delay (LED blinking duration)
|
||||
|
||||
#define PASSTHROUGH_MODE_ENABLED // Comment this line to remove CH8 radio passthrough mode support (hardware failsafe for Arduplane)
|
||||
//#define PASSTHROUGH_MODE_ENABLED // Comment this line to remove CH8 radio passthrough mode support (hardware failsafe for Arduplane)
|
||||
#define PASSTHROUGH_CHANNEL 8 * 2 // Channel for passthrough mode selection
|
||||
#define PASSTHROUGH_CHANNEL_OFF_US ONE_US * 1600 - PPM_PRE_PULSE // Passthrough off threshold
|
||||
#define PASSTHROUGH_CHANNEL_ON_US ONE_US * 1800 - PPM_PRE_PULSE // Passthrough on threshold
|
||||
|
|
@ -283,7 +284,7 @@ int main(void)
|
|||
// ------------------------------------------------------------------------------
|
||||
while( 1 )
|
||||
{
|
||||
if ( servo_error_condition || servo_input_missing ) // We have an error
|
||||
if ( throttle_failsafe_force ) // We have an error
|
||||
{
|
||||
blink_led ( 6 * LOOP_TIMER_10MS ); // Status LED very fast blink if invalid servo input or missing signal
|
||||
}
|
||||
|
|
@ -368,7 +369,8 @@ int main(void)
|
|||
// ------------------------------------------------------------------------------
|
||||
// Status LED control
|
||||
// ------------------------------------------------------------------------------
|
||||
if ( servo_error_condition || servo_input_missing ) // We have an error
|
||||
|
||||
if ( throttle_failsafe_force ) // We have an error
|
||||
{
|
||||
blink_led ( 6 * LOOP_TIMER_10MS ); // Status LED very fast blink if invalid servo input or missing signal
|
||||
}
|
||||
|
|
@ -454,7 +456,7 @@ int main(void)
|
|||
// Status LED control
|
||||
// ------------------------------------------------------------------------------
|
||||
|
||||
if ( servo_input_missing ) // We have an error
|
||||
if ( throttle_failsafe_force ) // We have an error
|
||||
{
|
||||
blink_led ( 6 * LOOP_TIMER_10MS ); // Status LED very fast blink if invalid servo input or missing signal
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
// -------------------------------------------------------------
|
||||
// ArduPPM (PPM Encoder) V2.3.13
|
||||
// ArduPPM (PPM Encoder) V2.3.14pre
|
||||
// -------------------------------------------------------------
|
||||
// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p),
|
||||
// PhoneDrone and APM2.x (ATmega32u2)
|
||||
|
|
@ -127,6 +127,12 @@
|
|||
// V2.3.13 - Official release
|
||||
// - Fail-safe vales changed back to normal fail-safe values. Use until APM code knows how to handle lost channel signal (800us)
|
||||
|
||||
// 16-12-2012
|
||||
// V2.3.14pre - Internal test release
|
||||
// - If one or more or all channel(s) are disconnected, throttle is set to fail-safe low (RTL)
|
||||
// - If the misssing channel(s) are regained, throttle control is regained
|
||||
|
||||
|
||||
// -------------------------------------------------------------
|
||||
|
||||
#ifndef _PPM_ENCODER_H_
|
||||
|
|
@ -168,7 +174,7 @@
|
|||
#endif
|
||||
|
||||
// Version stamp for firmware hex file ( decode hex file using <avr-objdump -s file.hex> and look for "ArduPPM" string )
|
||||
const char ver[15] = "ArduPPMv2.3.13";
|
||||
const char ver[15] = "ArduPPMv2.3.14pre";
|
||||
|
||||
// -------------------------------------------------------------
|
||||
// INPUT MODE
|
||||
|
|
@ -322,6 +328,9 @@ volatile uint8_t ppm_timeout[ PPM_ARRAY_MAX ];
|
|||
#define SERVO_INPUT_CONNECTED_VALUE 100
|
||||
volatile uint8_t servo_input_connected[ PPM_ARRAY_MAX ];
|
||||
|
||||
// count the channels which have been once connected but then got disconnected
|
||||
volatile uint8_t disconnected_channels;
|
||||
|
||||
// AVR parameters for PhoneDrone and APM2 boards using ATmega32u2
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
|
||||
|
|
@ -413,6 +422,8 @@ volatile bool ppm_generator_active = false;
|
|||
// Used to indicate a brownout restart
|
||||
volatile bool brownout_reset = false;
|
||||
|
||||
// Used to force throttle fail-safe mode (RTL)
|
||||
volatile bool throttle_failsafe_force = false;
|
||||
|
||||
// ------------------------------------------------------------------------------
|
||||
// PPM GENERATOR START - TOGGLE ON COMPARE INTERRUPT ENABLE
|
||||
|
|
@ -655,8 +666,18 @@ CHECK_PINS_LOOP: // Input servo pin check loop
|
|||
servo_input_connected[ ppm_channel ]++;
|
||||
}
|
||||
|
||||
//Reset ppm single channel fail-safe timeout
|
||||
//Reset ppm single channel fail-safe timeout
|
||||
ppm_timeout[ ppm_channel ] = 0;
|
||||
|
||||
// Check for forced throttle fail-safe
|
||||
if( throttle_failsafe_force )
|
||||
{
|
||||
if( ppm_channel == 5 )
|
||||
{
|
||||
// Force throttle fail-safe
|
||||
servo_width = PPM_THROTTLE_FAILSAFE;
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef _AVERAGE_FILTER_
|
||||
// Average filter to smooth input jitter
|
||||
|
|
@ -754,6 +775,12 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
|
|||
PPM_COMPARE += failsafe_ppm[ ppm_out_channel ];
|
||||
sei();
|
||||
|
||||
// Count the channel that we have lost
|
||||
if( servo_input_connected[ ppm_out_channel ] )
|
||||
{
|
||||
disconnected_channels++;
|
||||
}
|
||||
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
// Turn on RX LED to indicate a fail-safe condition
|
||||
PORTD &= ~(1 << PD4);
|
||||
|
|
@ -777,6 +804,18 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
|
|||
{
|
||||
ppm_out_channel = 0;
|
||||
|
||||
// Did we lose one or more active servo input channel? If so force throttle fail-safe (RTL)
|
||||
if( disconnected_channels > 0 )
|
||||
{
|
||||
throttle_failsafe_force = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
throttle_failsafe_force = false;
|
||||
}
|
||||
|
||||
disconnected_channels = 0;
|
||||
|
||||
#if defined (__AVR_ATmega16U2__) || defined (__AVR_ATmega32U2__)
|
||||
// Blink TX LED when PPM generator has finished a pulse train
|
||||
PIND |= ( 1<< PD5 );
|
||||
|
|
|
|||
Loading…
Reference in New Issue