/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
*/
/*
Outback Challenge Failsafe module
Andrew Tridgell and CanberraUAV, August 2012
*/
#include
#include
#include
#include
#include
#include
#include
class APM_OBC
{
public:
enum control_mode {
OBC_MANUAL = 0,
OBC_FBW = 1,
OBC_AUTO = 2
};
enum state {
STATE_PREFLIGHT = 0,
STATE_AUTO = 1,
STATE_DATA_LINK_LOSS = 2,
STATE_GPS_LOSS = 3
};
// Constructor
APM_OBC(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap) :
mission(_mission),
baro(_baro),
gps(_gps),
rcmap(_rcmap),
_gps_loss_count(0),
_comms_loss_count(0)
{
AP_Param::setup_object_defaults(this, var_info);
_state = STATE_PREFLIGHT;
_terminate.set(0);
_saved_wp = 0;
}
// check that everything is OK
void check(enum control_mode control_mode, uint32_t last_heartbeat_ms, bool geofence_breached, uint32_t last_valid_rc_ms);
// generate heartbeat msgs, so external failsafe boards are happy
// during sensor calibration
void heartbeat(void);
// called in servo output code to set servos to crash position if needed
void check_crash_plane(void);
// for holding parameters
static const struct AP_Param::GroupInfo var_info[];
private:
enum state _state;
AP_Mission &mission;
AP_Baro &baro;
const AP_GPS &gps;
const RCMapper &rcmap;
AP_Int8 _enable;
// digital output pins for communicating with the failsafe board
AP_Int8 _heartbeat_pin;
AP_Int8 _manual_pin;
AP_Int8 _terminate_pin;
AP_Int8 _terminate;
AP_Int8 _terminate_action;
// waypoint numbers to jump to on failsafe conditions
AP_Int8 _wp_comms_hold;
AP_Int8 _wp_gps_loss;
AP_Float _qnh_pressure;
AP_Int32 _amsl_limit;
AP_Int32 _amsl_margin_gps;
AP_Int16 _rc_fail_time;
AP_Int8 _max_gps_loss;
AP_Int8 _max_comms_loss;
bool _heartbeat_pin_value;
// saved waypoint for resuming mission
uint8_t _saved_wp;
// number of times we've lost GPS
uint8_t _gps_loss_count;
// number of times we've lost data link
uint8_t _comms_loss_count;
// last comms loss time
uint32_t _last_comms_loss_ms;
// last GPS loss time
uint32_t _last_gps_loss_ms;
// have the failsafe values been setup?
bool _failsafe_setup:1;
// setup failsafe values for if FMU firmware stops running
void setup_failsafe(void);
bool check_altlimit(void);
};
// map from ArduPlane control_mode to APM_OBC::control_mode
#define OBC_MODE(control_mode) (auto_throttle_mode?APM_OBC::OBC_AUTO:(control_mode==MANUAL?APM_OBC::OBC_MANUAL:APM_OBC::OBC_FBW))