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Sub: Remove RC radio failsafe

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This commit is contained in:
Jacob Walser 2016-12-07 14:03:53 -05:00 committed by Andrew Tridgell
parent 23122f4b90
commit 9ec79ab654
8 changed files with 2 additions and 101 deletions
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27
ArduSub/AP_State.cpp
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@ -57,33 +57,6 @@ void Sub::set_simple_mode(uint8_t b)
}
}
// ---------------------------------------------
void Sub::set_failsafe_radio(bool b)
{
// only act on changes
// -------------------
if(failsafe.radio != b) {
// store the value so we don't trip the gate twice
// -----------------------------------------------
failsafe.radio = b;
if (failsafe.radio == false) {
// We've regained radio contact
// ----------------------------
failsafe_radio_off_event();
}else{
// We've lost radio contact
// ------------------------
failsafe_radio_on_event();
}
// update AP_Notify
AP_Notify::flags.failsafe_radio = b;
}
}
// ---------------------------------------------
void Sub::set_failsafe_battery(bool b)
{

16
ArduSub/Parameters.cpp
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@ -222,22 +222,6 @@ const AP_Param::Info Sub::var_info[] = {
// @User: Standard
GSCALAR(pilot_accel_z, "PILOT_ACCEL_Z", PILOT_ACCEL_Z_DEFAULT),
// @Param: FS_THR_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
// @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode,3:Enabled always LAND
// @User: Standard
GSCALAR(failsafe_throttle, "FS_THR_ENABLE", FS_THR_DISABLED),
// @Param: FS_THR_VALUE
// @DisplayName: Throttle Failsafe Value
// @Description: The PWM level on channel 3 below which throttle sailsafe triggers
// @Range: 925 1100
// @Units: pwm
// @Increment: 1
// @User: Standard
GSCALAR(failsafe_throttle_value, "FS_THR_VALUE", FS_THR_VALUE_DEFAULT),
// @Param: THR_DZ
// @DisplayName: Throttle deadzone
// @Description: The deadzone above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes

4
ArduSub/Parameters.h
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@ -182,8 +182,6 @@ public:
k_param_failsafe_battery_enabled,
k_param_fs_batt_mah,
k_param_fs_batt_voltage,
k_param_failsafe_throttle,
k_param_failsafe_throttle_value,
// Misc Sub settings
@ -286,8 +284,6 @@ public:
// Throttle
//
AP_Int8 failsafe_throttle;
AP_Int16 failsafe_throttle_value;
AP_Int16 throttle_deadzone;
// Flight modes

6
ArduSub/Sub.h
View File

@ -288,8 +288,6 @@ private:
uint32_t last_leak_warn_ms; // last time a leak warning was sent to gcs
uint32_t last_gcs_warn_ms;
int8_t radio_counter; // number of iterations with throttle below throttle_fs_value
uint32_t last_heartbeat_ms; // the time when the last HEARTBEAT message arrived from a GCS - used for triggering gcs failsafe
uint32_t terrain_first_failure_ms; // the first time terrain data access failed - used to calculate the duration of the failure
uint32_t terrain_last_failure_ms; // the most recent time terrain data access failed
@ -522,7 +520,6 @@ private:
bool home_is_set();
void set_auto_armed(bool b);
void set_simple_mode(uint8_t b);
void set_failsafe_radio(bool b);
void set_failsafe_battery(bool b);
void set_pre_arm_check(bool b);
void set_pre_arm_rc_check(bool b);
@ -708,8 +705,6 @@ private:
void esc_calibration_passthrough();
void esc_calibration_auto();
bool should_disarm_on_failsafe();
void failsafe_radio_on_event();
void failsafe_radio_off_event();
void failsafe_battery_event(void);
void failsafe_gcs_check();
void failsafe_terrain_check();
@ -784,7 +779,6 @@ private:
void handle_jsbutton_press(uint8_t button,bool shift=false,bool held=false);
void camera_tilt_smooth();
JSButton* get_button(uint8_t index);
void set_throttle_and_failsafe(uint16_t throttle_pwm);
void set_throttle_zero_flag(int16_t throttle_control);
void radio_passthrough_to_motors();
void init_barometer(bool full_calibration);

4
ArduSub/compassmot.cpp
View File

@ -98,8 +98,7 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan)
gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Throttle");
}
// disable throttle and battery failsafe
g.failsafe_throttle = FS_THR_DISABLED;
// disable battery failsafe
g.failsafe_battery_enabled = FS_BATT_DISABLED;
// disable motor compensation
@ -256,7 +255,6 @@ uint8_t Sub::mavlink_compassmot(mavlink_channel_t chan)
failsafe_enable();
// re-enable failsafes
g.failsafe_throttle.load();
g.failsafe_battery_enabled.load();
// flag we have completed

42
ArduSub/events.cpp
View File

@ -2,48 +2,6 @@
#include "Sub.h"
/*
* This event will be called when the failsafe changes
* boolean failsafe reflects the current state
*/
void Sub::failsafe_radio_on_event()
{
// // if motors are not armed there is nothing to do
// if( !motors.armed() ) {
// return;
// }
//
// if (should_disarm_on_failsafe()) {
// init_disarm_motors();
// } else {
// if (control_mode == AUTO && g.failsafe_throttle == FS_THR_ENABLED_CONTINUE_MISSION) {
// // continue mission
// } else if (control_mode == LAND && g.failsafe_battery_enabled == FS_BATT_LAND && failsafe.battery) {
// // continue landing
// } else {
// if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
// set_mode_land_with_pause(MODE_REASON_RADIO_FAILSAFE);
// } else {
// set_mode_RTL_or_land_with_pause(MODE_REASON_RADIO_FAILSAFE);
// }
// }
// }
//
// // log the error to the dataflash
// Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_OCCURRED);
}
// failsafe_off_event - respond to radio contact being regained
// we must be in AUTO, LAND or RTL modes
// or Stabilize or ACRO mode but with motors disarmed
void Sub::failsafe_radio_off_event()
{
// no need to do anything except log the error as resolved
// user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_RESOLVED);
}
void Sub::failsafe_battery_event(void)
{
// // return immediately if low battery event has already been triggered

2
ArduSub/motor_test.cpp
View File

@ -112,7 +112,6 @@ uint8_t Sub::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq,
}
// disable throttle, battery and gps failsafe
g.failsafe_throttle = FS_THR_DISABLED;
g.failsafe_battery_enabled = FS_BATT_DISABLED;
g.failsafe_gcs = FS_GCS_DISABLED;
@ -153,7 +152,6 @@ void Sub::motor_test_stop()
motor_test_timeout_ms = 0;
// re-enable failsafes
g.failsafe_throttle.load();
g.failsafe_battery_enabled.load();
g.failsafe_gcs.load();

2
ArduSub/switches.cpp
View File

@ -125,7 +125,7 @@ void Sub::read_aux_switches()
uint8_t switch_position;
// exit immediately during radio failsafe
if (failsafe.radio || failsafe.radio_counter != 0) {
if (failsafe.radio) {
return;
}