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Plane: updates for OBC API change

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This commit is contained in:
Andrew Tridgell 2014-04-11 16:35:27 +10:00
parent 4c5e59c098
commit d37f1a1376
2 changed files with 31 additions and 23 deletions
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18
ArduPlane/ArduPlane.pde
View File

@ -106,13 +106,6 @@ AP_HAL::BetterStream* cliSerial;
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
////////////////////////////////////////////////////////////////////////////////
// Outback Challenge Failsafe Support
////////////////////////////////////////////////////////////////////////////////
#if OBC_FAILSAFE == ENABLED
APM_OBC obc;
#endif
////////////////////////////////////////////////////////////////////////////////
// the rate we run the main loop at
////////////////////////////////////////////////////////////////////////////////
@ -561,6 +554,13 @@ AP_Mission mission(ahrs,
&exit_mission_callback,
MISSION_START_BYTE, MISSION_END_BYTE);
////////////////////////////////////////////////////////////////////////////////
// Outback Challenge Failsafe Support
////////////////////////////////////////////////////////////////////////////////
#if OBC_FAILSAFE == ENABLED
APM_OBC obc(mission, barometer, gps);
#endif
////////////////////////////////////////////////////////////////////////////////
// Waypoint distances
////////////////////////////////////////////////////////////////////////////////
@ -909,9 +909,7 @@ static void obc_fs_check(void)
{
#if OBC_FAILSAFE == ENABLED
// perform OBC failsafe checks
obc.check(OBC_MODE(control_mode),
failsafe.last_heartbeat_ms,
gps, mission);
obc.check(OBC_MODE(control_mode), failsafe.last_heartbeat_ms);
#endif
}

36
ArduPlane/Attitude.pde
View File

@ -814,19 +814,6 @@ static void set_servos(void)
channel_pitch->radio_out = elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
}
#if OBC_FAILSAFE == ENABLED
// this is to allow the failsafe module to deliberately crash
// the plane. Only used in extreme circumstances to meet the
// OBC rules
if (obc.crash_plane()) {
channel_roll->servo_out = -4500;
channel_pitch->servo_out = -4500;
channel_rudder->servo_out = -4500;
channel_throttle->servo_out = 0;
}
#endif
// push out the PWM values
if (g.mix_mode == 0) {
channel_roll->calc_pwm();
@ -916,6 +903,29 @@ static void set_servos(void)
channel_rudder->radio_out = channel_rudder->radio_in;
}
#if OBC_FAILSAFE == ENABLED
// this is to allow the failsafe module to deliberately crash
// the plane. Only used in extreme circumstances to meet the
// OBC rules
if (obc.crash_plane()) {
channel_roll->servo_out = -4500;
channel_pitch->servo_out = -4500;
channel_rudder->servo_out = -4500;
channel_throttle->servo_out = 0;
channel_roll->calc_pwm();
channel_pitch->calc_pwm();
channel_rudder->calc_pwm();
channel_throttle->calc_pwm();
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap_auto, 100);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap, 100);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, 4500);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_rudder, 4500);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_elevator, 4500);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_elevator_with_input, 4500);
}
#endif
if (g.flaperon_output != MIXING_DISABLED && g.elevon_output == MIXING_DISABLED && g.mix_mode == 0) {
flaperon_update(auto_flap_percent);
}