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Plane: fixed servo mixing for AFS and failsafe case

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This commit is contained in:
Andrew Tridgell 2016-10-12 09:29:37 +11:00
parent 8170df7ba8
commit a23c373f16
5 changed files with 13 additions and 17 deletions
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2
ArduPlane/Plane.h
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@ -788,8 +788,6 @@ private:
static const AP_Scheduler::Task scheduler_tasks[];
static const AP_Param::Info var_info[];
bool demoing_servos = false;
// use this to prevent recursion during sensor init
bool in_mavlink_delay = false;

8
ArduPlane/afs_plane.cpp
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@ -28,6 +28,8 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
ch_yaw->set_radio_out(ch_yaw->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX));
ch_throttle->set_radio_out(ch_throttle->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN));
plane.servos_output();
// and all aux channels
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_flap_auto, RC_Channel::RC_CHANNEL_LIMIT_MAX);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_flap, RC_Channel::RC_CHANNEL_LIMIT_MAX);
@ -38,12 +40,6 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_manual, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_none, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
ch_roll->output();
ch_pitch->output();
ch_yaw->output();
ch_throttle->output();
RC_Channel_aux::output_ch_all();
plane.quadplane.afs_terminate();
// also disarm to ensure that ignition is cut

11
ArduPlane/failsafe.cpp
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@ -87,15 +87,6 @@ void Plane::failsafe_check(void)
return;
}
if (!demoing_servos) {
channel_roll->output();
channel_pitch->output();
}
channel_throttle->output();
if (g.rudder_only == 0) {
channel_rudder->output();
}
// setup secondary output channels that do have
// corresponding input channels
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual, true);
@ -104,6 +95,8 @@ void Plane::failsafe_check(void)
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_flap, 0);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_flap_auto, 0);
servos_output();
// setup flaperons
flaperon_update(0);
}

4
ArduPlane/radio.cpp
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@ -94,9 +94,13 @@ void Plane::init_rc_out_aux()
update_aux();
RC_Channel_aux::enable_aux_servos();
hal.rcout->cork();
// Initialization of servo outputs
RC_Channel::output_trim_all();
servos_output();
// setup PWM values to send if the FMU firmware dies
RC_Channel::setup_failsafe_trim_all();
}

5
ArduPlane/servos.cpp
View File

@ -616,6 +616,11 @@ void Plane::set_servos_flaps(void)
*/
void Plane::set_servos(void)
{
// start with output corked. the cork is released when we run
// servos_output(), which is run from all code paths in this
// function
hal.rcout->cork();
// this is to allow the failsafe module to deliberately crash
// the plane. Only used in extreme circumstances to meet the
// OBC rules