mirror of https://github.com/ArduPilot/ardupilot
87 lines
3.2 KiB
Plaintext
87 lines
3.2 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
* failsafe support
|
|
* Andrew Tridgell, December 2011
|
|
*/
|
|
|
|
/*
|
|
* our failsafe strategy is to detect main loop lockup and switch to
|
|
* passing inputs straight from the RC inputs to RC outputs.
|
|
*/
|
|
|
|
/*
|
|
* this failsafe_check function is called from the core timer interrupt
|
|
* at 1kHz.
|
|
*/
|
|
void failsafe_check(void)
|
|
{
|
|
static uint16_t last_mainLoop_count;
|
|
static uint32_t last_timestamp;
|
|
static bool in_failsafe;
|
|
uint32_t tnow = hal.scheduler->micros();
|
|
|
|
if (mainLoop_count != last_mainLoop_count) {
|
|
// the main loop is running, all is OK
|
|
last_mainLoop_count = mainLoop_count;
|
|
last_timestamp = tnow;
|
|
in_failsafe = false;
|
|
return;
|
|
}
|
|
|
|
if (tnow - last_timestamp > 200000) {
|
|
// we have gone at least 0.2 seconds since the main loop
|
|
// ran. That means we're in trouble, or perhaps are in
|
|
// an initialisation routine or log erase. Start passing RC
|
|
// inputs through to outputs
|
|
in_failsafe = true;
|
|
}
|
|
|
|
if (in_failsafe && tnow - last_timestamp > 20000) {
|
|
// pass RC inputs to outputs every 20ms
|
|
last_timestamp = tnow;
|
|
hal.rcin->clear_overrides();
|
|
channel_roll->radio_out = channel_roll->read();
|
|
channel_pitch->radio_out = channel_pitch->read();
|
|
channel_throttle->radio_out = channel_throttle->read();
|
|
channel_rudder->radio_out = channel_rudder->read();
|
|
|
|
// setup secondary output channels that don't have
|
|
// corresponding input channels
|
|
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, channel_roll->radio_out);
|
|
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_elevator, channel_pitch->radio_out);
|
|
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_rudder, channel_rudder->radio_out);
|
|
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_steering, channel_rudder->radio_out);
|
|
|
|
if (g.vtail_output != MIXING_DISABLED) {
|
|
channel_output_mixer(g.vtail_output, channel_pitch->radio_out, channel_rudder->radio_out);
|
|
} else if (g.elevon_output != MIXING_DISABLED) {
|
|
channel_output_mixer(g.elevon_output, channel_pitch->radio_out, channel_roll->radio_out);
|
|
}
|
|
|
|
#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
|
|
obc.check_crash_plane();
|
|
#endif
|
|
|
|
if (!demoing_servos) {
|
|
channel_roll->output();
|
|
channel_pitch->output();
|
|
}
|
|
channel_throttle->output();
|
|
channel_rudder->output();
|
|
|
|
// setup secondary output channels that do have
|
|
// corresponding input channels
|
|
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual, true);
|
|
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input, true);
|
|
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_elevator_with_input, true);
|
|
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap, 0);
|
|
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap_auto, 0);
|
|
|
|
// setup flaperons
|
|
flaperon_update(0);
|
|
}
|
|
}
|