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Rover: check for failed RC input 

loss of RC for 2s is considered a throttle failsafe
This commit is contained in:
Andrew Tridgell 2013-12-20 09:48:36 +11:00
parent a4af83d454
commit b72ea5435b
2 changed files with 13 additions and 1 deletions
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1
APMrover2/APMrover2.pde
View File

@ -354,6 +354,7 @@ static struct {
uint32_t rc_override_timer;
uint32_t start_time;
uint8_t triggered;
uint32_t last_valid_rc_ms;
} failsafe;
// notification object for LEDs, buzzers etc (parameter set to false disables external leds)

13
APMrover2/radio.pde
View File

@ -45,6 +45,13 @@ static void init_rc_out()
static void read_radio()
{
if (!hal.rcin->valid_channels()) {
control_failsafe(channel_throttle->radio_in);
return;
}
failsafe.last_valid_rc_ms = hal.scheduler->millis();
for (uint8_t i=0; i<8; i++) {
RC_Channel::rc_channel(i)->set_pwm(RC_Channel::rc_channel(i)->read());
}
@ -101,7 +108,11 @@ static void control_failsafe(uint16_t pwm)
if (rc_override_active) {
failsafe_trigger(FAILSAFE_EVENT_RC, (millis() - failsafe.rc_override_timer) > 1500);
} else if (g.fs_throttle_enabled) {
failsafe_trigger(FAILSAFE_EVENT_THROTTLE, pwm < (uint16_t)g.fs_throttle_value);
bool failed = pwm < (uint16_t)g.fs_throttle_value;
if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 2000) {
failed = true;
}
failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed);
}
}