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Copter: eliminate failsafe.rc_override_active 

Use RC_Channels::has_active_overrides() instead
This commit is contained in:
Peter Barker 2018-08-03 17:23:34 +10:00 committed by Peter Barker
parent 9650846497
commit a30cdf6806
4 changed files with 9 additions and 21 deletions
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1
ArduCopter/Copter.h
View File

@ -381,7 +381,6 @@ private:
int8_t radio_counter; // number of iterations with throttle below throttle_fs_value
uint8_t rc_override_active : 1; // true if rc control are overwritten by ground station
uint8_t radio : 1; // A status flag for the radio failsafe
uint8_t gcs : 1; // A status flag for the ground station failsafe
uint8_t ekf : 1; // true if ekf failsafe has occurred

14
ArduCopter/GCS_Mavlink.cpp
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@ -1052,13 +1052,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
if(msg->sysid != copter.g.sysid_my_gcs) {
break; // Only accept control from our gcs
}
if (!rc().gcs_overrides_enabled()) {
if (copter.failsafe.rc_override_active) { // if overrides were active previously, disable them
copter.failsafe.rc_override_active = false;
RC_Channels::clear_overrides();
}
break;
}
uint32_t tnow = AP_HAL::millis();
mavlink_rc_channels_override_t packet;
@ -1073,9 +1067,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
RC_Channels::set_override(6, packet.chan7_raw, tnow);
RC_Channels::set_override(7, packet.chan8_raw, tnow);
// record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
copter.failsafe.rc_override_active = RC_Channels::has_active_overrides();
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
copter.failsafe.last_heartbeat_ms = tnow;
break;
@ -1110,9 +1101,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
RC_Channels::set_override(uint8_t(copter.rcmap.throttle() - 1), throttle, tnow);
RC_Channels::set_override(uint8_t(copter.rcmap.yaw() - 1), yaw, tnow);
// record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
copter.failsafe.rc_override_active = RC_Channels::has_active_overrides();
// a manual control message is considered to be a 'heartbeat' from the ground station for failsafe purposes
copter.failsafe.last_heartbeat_ms = tnow;
break;

3
ArduCopter/events.cpp
View File

@ -92,7 +92,7 @@ void Copter::failsafe_gcs_check()
// return immediately if gcs failsafe is disabled, gcs has never been connected or we are not overriding rc controls from the gcs and we are not in guided mode
// this also checks to see if we have a GCS failsafe active, if we do, then must continue to process the logic for recovery from this state.
if ((!failsafe.gcs)&&(g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0 || (!failsafe.rc_override_active && control_mode != GUIDED))) {
if ((!failsafe.gcs)&&(g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0 || (!RC_Channels::has_active_overrides() && control_mode != GUIDED))) {
return;
}
@ -122,7 +122,6 @@ void Copter::failsafe_gcs_check()
// clear overrides so that RC control can be regained with radio.
RC_Channels::clear_overrides();
failsafe.rc_override_active = false;
if (should_disarm_on_failsafe()) {
init_disarm_motors();

12
ArduCopter/radio.cpp
View File

@ -90,7 +90,7 @@ void Copter::enable_motor_output()
void Copter::read_radio()
{
uint32_t tnow_ms = millis();
const uint32_t tnow_ms = millis();
if (rc().read_input()) {
ap.new_radio_frame = true;
@ -98,9 +98,10 @@ void Copter::read_radio()
set_throttle_and_failsafe(channel_throttle->get_radio_in());
set_throttle_zero_flag(channel_throttle->get_control_in());
// flag we must have an rc receiver attached
if (!failsafe.rc_override_active) {
ap.rc_receiver_present = true;
if (!ap.rc_receiver_present) {
// RC receiver must be attached if we've just go input and
// there are no overrides
ap.rc_receiver_present = !RC_Channels::has_active_overrides();
}
// pass pilot input through to motors (used to allow wiggling servos while disarmed on heli, single, coax copters)
@ -112,7 +113,8 @@ void Copter::read_radio()
}else{
uint32_t elapsed = tnow_ms - last_radio_update_ms;
// turn on throttle failsafe if no update from the RC Radio for 500ms or 2000ms if we are using RC_OVERRIDE
if (((!failsafe.rc_override_active && (elapsed >= FS_RADIO_TIMEOUT_MS)) || (failsafe.rc_override_active && (elapsed >= FS_RADIO_RC_OVERRIDE_TIMEOUT_MS))) &&
const bool has_active_overrides = RC_Channels::has_active_overrides();
if (((!has_active_overrides && (elapsed >= FS_RADIO_TIMEOUT_MS)) || (has_active_overrides && (elapsed >= FS_RADIO_RC_OVERRIDE_TIMEOUT_MS))) &&
(g.failsafe_throttle && (ap.rc_receiver_present||motors->armed()) && !failsafe.radio)) {
Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
set_failsafe_radio(true);