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Copter: added FS_CRASH_CHECK parameter

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this allows automatic crash detection to be disabled
This commit is contained in:
Andrew Tridgell 2015-08-31 12:15:46 +10:00
parent 90909f2b4a
commit ff934d5bca
3 changed files with 12 additions and 3 deletions
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7
ArduCopter/Parameters.cpp
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@ -496,6 +496,13 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", FS_EKF_THRESHOLD_DEFAULT), GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", FS_EKF_THRESHOLD_DEFAULT),
// @Param: FS_CRASH_CHECK
// @DisplayName: Crash check enable
// @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
GSCALAR(fs_crash_check, "FS_CRASH_CHECK", 1),
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// @Group: HS1_ // @Group: HS1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp

4
ArduCopter/Parameters.h
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@ -163,10 +163,11 @@ public:
k_param_heli_stab_col_max, // 88 k_param_heli_stab_col_max, // 88
// //
// 90: Motors // 90: misc2
// //
k_param_motors = 90, k_param_motors = 90,
k_param_disarm_delay, k_param_disarm_delay,
k_param_fs_crash_check,
// 97: RSSI // 97: RSSI
k_param_rssi = 97, k_param_rssi = 97,
@ -429,6 +430,7 @@ public:
AP_Int8 land_repositioning; AP_Int8 land_repositioning;
AP_Int8 fs_ekf_action; AP_Int8 fs_ekf_action;
AP_Int8 fs_crash_check;
AP_Float fs_ekf_thresh; AP_Float fs_ekf_thresh;
AP_Int16 gcs_pid_mask; AP_Int16 gcs_pid_mask;

4
ArduCopter/crash_check.cpp
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@ -14,8 +14,8 @@ void Copter::crash_check()
{ {
static uint16_t crash_counter; // number of iterations vehicle may have been crashed static uint16_t crash_counter; // number of iterations vehicle may have been crashed
// return immediately if disarmed // return immediately if disarmed, or crash checking disabled
if (!motors.armed() || ap.land_complete) { if (!motors.armed() || ap.land_complete || g.fs_crash_check == 0) {
crash_counter = 0; crash_counter = 0;
return; return;
} }