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Copter: added FS_THR_ENABLED_ALWAYS_LAND (=3) option: don't attempt RTL, just land

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Robert Gayle 2013-05-01 20:39:44 -04:00 committed by rmackay9
parent b00e5d95c9
commit 917edcab11
3 changed files with 16 additions and 3 deletions
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2
ArduCopter/Parameters.pde
View File

@ -283,7 +283,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @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 // @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode,3:Enabled always LAND
// @User: Standard // @User: Standard
GSCALAR(failsafe_throttle, "FS_THR_ENABLE", FS_THR_DISABLED), GSCALAR(failsafe_throttle, "FS_THR_ENABLE", FS_THR_DISABLED),

1
ArduCopter/config.h
View File

@ -502,6 +502,7 @@
#define FS_THR_DISABLED 0 #define FS_THR_DISABLED 0
#define FS_THR_ENABLED_ALWAYS_RTL 1 #define FS_THR_ENABLED_ALWAYS_RTL 1
#define FS_THR_ENABLED_CONTINUE_MISSION 2 #define FS_THR_ENABLED_CONTINUE_MISSION 2
#define FS_THR_ENABLED_ALWAYS_LAND 3
#ifndef FS_THR_VALUE_DEFAULT #ifndef FS_THR_VALUE_DEFAULT
# define FS_THR_VALUE_DEFAULT 975 # define FS_THR_VALUE_DEFAULT 975

16
ArduCopter/events.pde
View File

@ -18,6 +18,9 @@ static void failsafe_radio_on_event()
// if throttle is zero disarm motors // if throttle is zero disarm motors
if (g.rc_3.control_in == 0) { if (g.rc_3.control_in == 0) {
init_disarm_motors(); init_disarm_motors();
}else if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
// if failsafe_throttle is 3 (i.e. FS_THR_ENABLED_ALWAYS_LAND) land immediately
set_mode(LAND);
}else if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) { }else if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
set_mode(RTL); set_mode(RTL);
}else{ }else{
@ -34,11 +37,17 @@ static void failsafe_radio_on_event()
// We are very close to home so we will land // We are very close to home so we will land
set_mode(LAND); set_mode(LAND);
} }
}else if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
// if failsafe_throttle is 3 (i.e. FS_THR_ENABLED_ALWAYS_LAND) land immediately
set_mode(LAND);
} }
// if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything // if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
break; break;
default: default:
if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) { if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
// if failsafe_throttle is 3 (i.e. FS_THR_ENABLED_ALWAYS_LAND) land immediately
set_mode(LAND);
}else if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
set_mode(RTL); set_mode(RTL);
}else{ }else{
// We have no GPS or are very close to home so we will land // We have no GPS or are very close to home so we will land
@ -77,7 +86,10 @@ static void low_battery_event(void)
} }
break; break;
case AUTO: case AUTO:
if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) { if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
// if failsafe_throttle is 3 (i.e. FS_THR_ENABLED_ALWAYS_LAND) land immediately
set_mode(LAND);
}else if(ap.home_is_set == true && g_gps->status() == GPS::GPS_OK_FIX_3D && home_distance > wp_nav.get_waypoint_radius()) {
set_mode(RTL); set_mode(RTL);
}else{ }else{
// We have no GPS or are very close to home so we will land // We have no GPS or are very close to home so we will land