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Plane: improved RC failsafe handling 

this forces all primary control inputs to the trim value on loss of RC
input, and reduces the timeout for loss of RC input to 1 second from 2
This commit is contained in:
Andrew Tridgell 2014-03-08 16:20:09 +11:00
parent 5a80ae0f61
commit c9ebd6a175
2 changed files with 19 additions and 5 deletions
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2
ArduPlane/Attitude.pde
View File

@ -43,7 +43,7 @@ static bool stick_mixing_enabled(void)
if (g.stick_mixing != STICK_MIXING_DISABLED &&
geofence_stickmixing() &&
failsafe.state == FAILSAFE_NONE &&
!throttle_failsafe_level()) {
!rc_failsafe_active()) {
// we're in an auto mode, and haven't triggered failsafe
return true;
} else {

22
ArduPlane/radio.pde
View File

@ -189,6 +189,19 @@ static void read_radio()
static void control_failsafe(uint16_t pwm)
{
if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 1000 || rc_failsafe_active()) {
// we do not have valid RC input. Set all primary channel
// control inputs to the trim value
channel_roll->radio_in = channel_roll->radio_trim;
channel_pitch->radio_in = channel_pitch->radio_trim;
channel_rudder->radio_in = channel_rudder->radio_trim;
channel_throttle->radio_in = channel_throttle->radio_trim;
channel_roll->control_in = 0;
channel_pitch->control_in = 0;
channel_rudder->control_in = 0;
channel_throttle->control_in = 0;
}
if(g.throttle_fs_enabled == 0)
return;
@ -204,7 +217,7 @@ static void control_failsafe(uint16_t pwm)
//Check for failsafe and debounce funky reads
} else if (g.throttle_fs_enabled) {
if (throttle_failsafe_level()) {
if (rc_failsafe_active()) {
// we detect a failsafe from radio
// throttle has dropped below the mark
failsafe.ch3_counter++;
@ -299,14 +312,15 @@ static void trim_radio()
/*
return true if throttle level is below throttle failsafe threshold
or RC input is invalid
*/
static bool throttle_failsafe_level(void)
static bool rc_failsafe_active(void)
{
if (!g.throttle_fs_enabled) {
return false;
}
if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 2000) {
// we haven't had a valid RC frame for 2 seconds
if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 1000) {
// we haven't had a valid RC frame for 1 seconds
return true;
}
if (channel_throttle->get_reverse()) {