Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: rename ADVANCED_FAILSAFE to AP_COPTER_ADVANCED_FAILSAFE_ENABLED 

to make integration with custom build server work
This commit is contained in:
Peter Barker 2024-11-06 19:09:47 +11:00 committed by Andrew Tridgell
parent 6acbfde357
commit bb12b988f7
13 changed files with 27 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/APM_Config.h
View File

@ -27,7 +27,7 @@
// features below are disabled by default on all boards // features below are disabled by default on all boards
//#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes //#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes
//#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE // disable mode changes from GCS during Radio failsafes. Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
//#define ADVANCED_FAILSAFE 1 // enabled advanced failsafe which allows running a portion of the mission in failsafe events //#define AP_COPTER_ADVANCED_FAILSAFE_ENABLED 1 // enabled advanced failsafe which allows running a portion of the mission in failsafe events
// other settings // other settings
//#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000) //#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000)

2
ArduCopter/Copter.cpp
View File

@ -232,7 +232,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
#if HAL_ADSB_ENABLED #if HAL_ADSB_ENABLED
SCHED_TASK(avoidance_adsb_update, 10, 100, 138), SCHED_TASK(avoidance_adsb_update, 10, 100, 138),
#endif #endif
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
SCHED_TASK(afs_fs_check, 10, 100, 141), SCHED_TASK(afs_fs_check, 10, 100, 141),
#endif #endif
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE

6
ArduCopter/Copter.h
View File

@ -137,7 +137,7 @@
#include <AP_OSD/AP_OSD.h> #include <AP_OSD/AP_OSD.h>
#endif #endif
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
# include "afs_copter.h" # include "afs_copter.h"
#endif #endif
#if TOY_MODE_ENABLED #if TOY_MODE_ENABLED
@ -183,7 +183,7 @@ public:
friend class ParametersG2; friend class ParametersG2;
friend class AP_Avoidance_Copter; friend class AP_Avoidance_Copter;
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
friend class AP_AdvancedFailsafe_Copter; friend class AP_AdvancedFailsafe_Copter;
#endif #endif
friend class AP_Arming_Copter; friend class AP_Arming_Copter;
@ -802,7 +802,7 @@ private:
// failsafe.cpp // failsafe.cpp
void failsafe_enable(); void failsafe_enable();
void failsafe_disable(); void failsafe_disable();
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
void afs_fs_check(void); void afs_fs_check(void);
#endif #endif

2
ArduCopter/GCS_Mavlink.cpp
View File

@ -1519,7 +1519,7 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
} }
MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_int_t &packet) { MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_int_t &packet) {
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
if (GCS_MAVLINK::handle_flight_termination(packet) == MAV_RESULT_ACCEPTED) { if (GCS_MAVLINK::handle_flight_termination(packet) == MAV_RESULT_ACCEPTED) {
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }

4
ArduCopter/Parameters.cpp
View File

@ -771,7 +771,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("GND_EFFECT_COMP", 5, ParametersG2, gndeffect_comp_enabled, 1), AP_GROUPINFO("GND_EFFECT_COMP", 5, ParametersG2, gndeffect_comp_enabled, 1),
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// @Group: AFS_ // @Group: AFS_
// @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp // @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
AP_SUBGROUPINFO(afs, "AFS_", 6, ParametersG2, AP_AdvancedFailsafe), AP_SUBGROUPINFO(afs, "AFS_", 6, ParametersG2, AP_AdvancedFailsafe),
@ -1251,7 +1251,7 @@ ParametersG2::ParametersG2(void)
#if HAL_PROXIMITY_ENABLED #if HAL_PROXIMITY_ENABLED
, proximity() , proximity()
#endif #endif
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
,afs() ,afs()
#endif #endif
#if MODE_SMARTRTL_ENABLED #if MODE_SMARTRTL_ENABLED

2
ArduCopter/Parameters.h
View File

@ -531,7 +531,7 @@ public:
// whether to enforce acceptance of packets only from sysid_my_gcs // whether to enforce acceptance of packets only from sysid_my_gcs
AP_Int8 sysid_enforce; AP_Int8 sysid_enforce;
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// advanced failsafe library // advanced failsafe library
AP_AdvancedFailsafe_Copter afs; AP_AdvancedFailsafe_Copter afs;
#endif #endif

4
ArduCopter/afs_copter.cpp
View File

@ -4,7 +4,7 @@
#include "Copter.h" #include "Copter.h"
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
/* /*
setup radio_out values for all channels to termination values setup radio_out values for all channels to termination values
@ -63,4 +63,4 @@ AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Copter::afs_mode(void)
{ {
copter.set_mode(Mode::Number::AUTO,ModeReason::GCS_FAILSAFE); copter.set_mode(Mode::Number::AUTO,ModeReason::GCS_FAILSAFE);
} }
#endif // ADVANCED_FAILSAFE #endif // AP_COPTER_ADVANCED_FAILSAFE_ENABLED

6
ArduCopter/afs_copter.h
View File

@ -18,7 +18,9 @@
advanced failsafe support for copter advanced failsafe support for copter
*/ */
#if ADVANCED_FAILSAFE #include "config.h"
#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h> #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
/* /*
@ -44,5 +46,5 @@ protected:
void set_mode_auto(void) override; void set_mode_auto(void) override;
}; };
#endif // ADVANCED_FAILSAFE #endif // AP_COPTER_ADVANCED_FAILSAFE_ENABLED

4
ArduCopter/config.h
View File

@ -574,8 +574,8 @@
// Developer Items // Developer Items
// //
#ifndef ADVANCED_FAILSAFE #ifndef AP_COPTER_ADVANCED_FAILSAFE_ENABLED
# define ADVANCED_FAILSAFE 0 # define AP_COPTER_ADVANCED_FAILSAFE_ENABLED 0
#endif #endif
#ifndef CH_MODE_DEFAULT #ifndef CH_MODE_DEFAULT

2
ArduCopter/events.cpp
View File

@ -492,7 +492,7 @@ void Copter::do_failsafe_action(FailsafeAction action, ModeReason reason){
set_mode_SmartRTL_or_land_with_pause(reason); set_mode_SmartRTL_or_land_with_pause(reason);
break; break;
case FailsafeAction::TERMINATE: { case FailsafeAction::TERMINATE: {
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
g2.afs.gcs_terminate(true, "Failsafe"); g2.afs.gcs_terminate(true, "Failsafe");
#else #else
arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE); arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);

2
ArduCopter/failsafe.cpp
View File

@ -72,7 +72,7 @@ void Copter::failsafe_check()
} }
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
/* /*
check for AFS failsafe check check for AFS failsafe check
*/ */

12
ArduCopter/mode.h
View File

@ -4,7 +4,7 @@
#include <AP_Math/chirp.h> #include <AP_Math/chirp.h>
#include <AP_ExternalControl/AP_ExternalControl_config.h> // TODO why is this needed if Copter.h includes this #include <AP_ExternalControl/AP_ExternalControl_config.h> // TODO why is this needed if Copter.h includes this
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
#include "afs_copter.h" #include "afs_copter.h"
#endif #endif
@ -134,7 +134,7 @@ public:
virtual bool allows_flip() const { return false; } virtual bool allows_flip() const { return false; }
virtual bool crash_check_enabled() const { return true; } virtual bool crash_check_enabled() const { return true; }
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// Return the type of this mode for use by advanced failsafe // Return the type of this mode for use by advanced failsafe
virtual AP_AdvancedFailsafe_Copter::control_mode afs_mode() const { return AP_AdvancedFailsafe_Copter::control_mode::AFS_STABILIZED; } virtual AP_AdvancedFailsafe_Copter::control_mode afs_mode() const { return AP_AdvancedFailsafe_Copter::control_mode::AFS_STABILIZED; }
#endif #endif
@ -517,7 +517,7 @@ public:
bool allows_inverted() const override { return true; }; bool allows_inverted() const override { return true; };
#endif #endif
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// Return the type of this mode for use by advanced failsafe // Return the type of this mode for use by advanced failsafe
AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; } AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
#endif #endif
@ -1068,7 +1068,7 @@ public:
bool requires_terrain_failsafe() const override { return true; } bool requires_terrain_failsafe() const override { return true; }
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// Return the type of this mode for use by advanced failsafe // Return the type of this mode for use by advanced failsafe
AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; } AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
#endif #endif
@ -1243,7 +1243,7 @@ public:
bool is_landing() const override { return true; }; bool is_landing() const override { return true; };
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// Return the type of this mode for use by advanced failsafe // Return the type of this mode for use by advanced failsafe
AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; } AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
#endif #endif
@ -1425,7 +1425,7 @@ public:
bool requires_terrain_failsafe() const override { return true; } bool requires_terrain_failsafe() const override { return true; }
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// Return the type of this mode for use by advanced failsafe // Return the type of this mode for use by advanced failsafe
AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; } AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
#endif #endif

2
ArduCopter/motors.cpp
View File

@ -135,7 +135,7 @@ void Copter::auto_disarm_check()
// motors_output - send output to motors library which will adjust and send to ESCs and servos // motors_output - send output to motors library which will adjust and send to ESCs and servos
void Copter::motors_output() void Copter::motors_output()
{ {
#if ADVANCED_FAILSAFE #if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
// this is to allow the failsafe module to deliberately crash // this is to allow the failsafe module to deliberately crash
// the vehicle. Only used in extreme circumstances to meet the // the vehicle. Only used in extreme circumstances to meet the
// OBC rules // OBC rules