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Plane: added AFS support for quadplanes

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This commit is contained in:
Andrew Tridgell 2016-07-22 18:36:28 +10:00
parent adb5a3ee1f
commit b29b609bcc
4 changed files with 25 additions and 0 deletions
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1
ArduPlane/GCS_Mavlink.cpp
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@ -1557,6 +1557,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
if (!plane.geofence_present()) { if (!plane.geofence_present()) {
plane.gcs_send_text(MAV_SEVERITY_NOTICE,"Fence not configured");
result = MAV_RESULT_FAILED; result = MAV_RESULT_FAILED;
} else { } else {
switch((uint16_t)packet.param1) { switch((uint16_t)packet.param1) {

12
ArduPlane/afs_plane.cpp
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@ -37,6 +37,12 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_elevator_with_input, RC_Channel::RC_CHANNEL_LIMIT_MAX); RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_elevator_with_input, RC_Channel::RC_CHANNEL_LIMIT_MAX);
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_manual, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_none, 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();
} }
void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void) void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
@ -61,6 +67,12 @@ void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_elevator_with_input, RC_Channel::RC_CHANNEL_LIMIT_MAX); RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_elevator_with_input, RC_Channel::RC_CHANNEL_LIMIT_MAX);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_manual, RC_Channel::RC_CHANNEL_LIMIT_TRIM); RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_manual, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_none, RC_Channel::RC_CHANNEL_LIMIT_TRIM); RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_none, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
if (plane.quadplane.available()) {
// setup AP_Motors outputs for failsafe
uint16_t mask = plane.quadplane.motors->get_motor_mask();
hal.rcout->set_failsafe_pwm(mask, plane.quadplane.thr_min_pwm);
}
} }
/* /*

11
ArduPlane/quadplane.cpp
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@ -980,6 +980,12 @@ void QuadPlane::update(void)
return; return;
} }
if (plane.afs.should_crash_vehicle()) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
motors->output();
return;
}
if (motor_test.running) { if (motor_test.running) {
motor_test_output(); motor_test_output();
return; return;
@ -1072,6 +1078,11 @@ void QuadPlane::check_throttle_suppression(void)
*/ */
void QuadPlane::motors_output(void) void QuadPlane::motors_output(void)
{ {
if (plane.afs.should_crash_vehicle()) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
motors->output();
return;
}
if (esc_calibration && AP_Notify::flags.esc_calibration && plane.control_mode == QSTABILIZE) { if (esc_calibration && AP_Notify::flags.esc_calibration && plane.control_mode == QSTABILIZE) {
// output is direct from run_esc_calibration() // output is direct from run_esc_calibration()
return; return;

1
ArduPlane/quadplane.h
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@ -36,6 +36,7 @@ public:
friend class Plane; friend class Plane;
friend class AP_Tuning_Plane; friend class AP_Tuning_Plane;
friend class GCS_MAVLINK_Plane; friend class GCS_MAVLINK_Plane;
friend class AP_AdvancedFailsafe_Plane;
QuadPlane(AP_AHRS_NavEKF &_ahrs); QuadPlane(AP_AHRS_NavEKF &_ahrs);