// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /* * This event will be called when the failsafe changes * boolean failsafe reflects the current state */ static void failsafe_on_event() { // if motors are not armed there is nothing to do if( !motors.armed() ) { return; } // This is how to handle a failsafe. switch(control_mode) { case STABILIZE: case ACRO: // if throttle is zero disarm motors if (g.rc_3.control_in == 0) { init_disarm_motors(); }else if(ap.home_is_set == true) { set_mode(RTL); }else{ // We have no GPS so we will crash land in alt hold mode // the low throttle will bring us down at the maximum // the low throttle will bring us down at the maximum descent speed // To-Do: make LAND a throttle mode so it can operate without GPS set_mode(ALT_HOLD); set_new_altitude(0); } break; case AUTO: // throttle_fs_action is 1 do RTL, everything else means continue with the mission if (g.throttle_fs_action == THROTTLE_FAILSAFE_ACTION_ALWAYS_RTL) { // To-Do: check distance from home before initiating RTL set_mode(RTL); } // if throttle_fs_action is 2 (i.e. THROTTLE_FAILSAFE_ACTION_CONTINUE_MISSION) no need to do anything break; default: if(ap.home_is_set == true) { // same as above ^ // do_rtl sets the altitude to the current altitude by default // To-Do: check distance from home before initiating RTL set_mode(RTL); }else{ // We have no GPS so we will crash land in alt hold mode // the low throttle will bring us down at the maximum descent speed // To-Do: make LAND a throttle mode so it can operate without GPS set_mode(ALT_HOLD); set_new_altitude(0); } break; } } // failsafe_off_event - respond to radio contact being regained // we must be in AUTO, LAND or RTL modes // or Stabilize or ACRO mode but with motors disarmed static void failsafe_off_event() { // no need to do anything // user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode } static void low_battery_event(void) { // warn the ground station gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!")); // failsafe check if (g.battery_fs_enabled && !ap.low_battery && motors.armed()) { switch(control_mode) { case STABILIZE: case ACRO: // if throttle is zero disarm motors if (g.rc_3.control_in == 0) { init_disarm_motors(); }else{ set_mode(LAND); } break; case AUTO: // To-Do: check distance to home before initiating RTL? set_mode(RTL); break; default: set_mode(LAND); break; } } // set the low battery flag set_low_battery(true); #if COPTER_LEDS == ENABLED if ( bitRead(g.copter_leds_mode, 3) ) { // Only Activate if a battery is connected to avoid alarm on USB only piezo_on(); } #endif // COPTER_LEDS } static void update_events() // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY { if(event_repeat == 0 || (millis() - event_timer) < event_delay) return; if (event_repeat > 0) { event_repeat--; } if(event_repeat != 0) { // event_repeat = -1 means repeat forever event_timer = millis(); if (event_id >= CH_5 && event_id <= CH_8) { if(event_repeat%2) { APM_RC.OutputCh(event_id, event_value); // send to Servos } else { APM_RC.OutputCh(event_id, event_undo_value); } } if (event_id == RELAY_TOGGLE) { relay.toggle(); } } }