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Heartbeat failsafe added for APO. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1940 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2011-05-01 03:38:41 +00:00
parent 7b7ba0df1f
commit 9b25875baf
5 changed files with 11 additions and 10 deletions
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14
libraries/APO/AP_Guide.h
View File

@ -200,13 +200,13 @@ public:
//airSpeedCommand = 0;
//groundSpeedCommand = 0;
headingCommand -= 45*deg2Rad;
_hal->debug->print("Obstacle Distance (m): ");
_hal->debug->println(frontDistance);
_hal->debug->print("Obstacle avoidance Heading Command: ");
_hal->debug->println(headingCommand);
_hal->debug->printf_P(
PSTR("Front Distance, %f\n"),
frontDistance);
// _hal->debug->print("Obstacle Distance (m): ");
// _hal->debug->println(frontDistance);
// _hal->debug->print("Obstacle avoidance Heading Command: ");
// _hal->debug->println(headingCommand);
// _hal->debug->printf_P(
// PSTR("Front Distance, %f\n"),
// frontDistance);
}
if (_rangeFinderBack && _rangeFinderBack->distance < 5) {
airSpeedCommand = 0;

2
libraries/APO/AP_HardwareAbstractionLayer.h
View File

@ -47,7 +47,7 @@ public:
AP_HardwareAbstractionLayer(halMode_t mode, board_t board, vehicle_t vehicle) :
_mode(mode), _board(board), _vehicle(vehicle), adc(),
gps(), baro(), compass(), rangeFinders(),
imu(), rc(), gcs(), hil(), debug(), load()
imu(), rc(), gcs(), hil(), debug(), load(), lastHeartBeat()
{
}
/**

1
libraries/APO/controllers.h
View File

@ -131,6 +131,7 @@ public:
_hal->rc[CH_RIGHT]->setPosition(0);
_hal->rc[CH_FRONT]->setPosition(0);
_hal->rc[CH_BACK]->setPosition(0);
return;
}
// read and set pwm so they can be read as positions later

2
libraries/APO/examples/AutopilotCar/AutopilotCar.pde
View File

@ -60,7 +60,7 @@ const float loop4Rate = 0.1;
// max time in seconds to allow flight without ground station comms
// zero will ignore timeout
const uint8_t heartbeatTimeout = 3.0;
const uint8_t heartbeatTimeout = 3;
//---------HARDWARE CONFIG ----------------//

2
libraries/APO/examples/AutopilotQuad/AutopilotQuad.pde
View File

@ -60,7 +60,7 @@ const float loop4Rate = 0.1;
// max time in seconds to allow flight without ground station comms
// zero will ignore timeout
const uint8_t heartbeatTimeout = 3.0;
const uint8_t heartbeatTimeout = 3;
//---------HARDWARE CONFIG ----------------//