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ardupilot/ArduCopter/events.cpp

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#include "Copter.h"
/*
* This event will be called when the failsafe changes
* boolean failsafe reflects the current state
*/
bool Copter::failsafe_option(FailsafeOption opt) const
{
return (g2.fs_options & (uint32_t)opt);
}
void Copter::failsafe_radio_on_event()
{
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_OCCURRED);
// set desired action based on FS_THR_ENABLE parameter
Failsafe_Action desired_action;
switch (g.failsafe_throttle) {
case FS_THR_DISABLED:
desired_action = Failsafe_Action_None;
break;
case FS_THR_ENABLED_ALWAYS_RTL:
case FS_THR_ENABLED_CONTINUE_MISSION:
desired_action = Failsafe_Action_RTL;
break;
case FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL:
desired_action = Failsafe_Action_SmartRTL;
break;
case FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND:
desired_action = Failsafe_Action_SmartRTL_Land;
break;
case FS_THR_ENABLED_ALWAYS_LAND:
desired_action = Failsafe_Action_Land;
break;
default:
desired_action = Failsafe_Action_Land;
}
// Conditions to deviate from FS_THR_ENABLE selection and send specific GCS warning
if (should_disarm_on_failsafe()) {
// should immediately disarm when we're on the ground
gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe - Disarming");
arming.disarm();
desired_action = Failsafe_Action_None;
} else if (flightmode->is_landing() && ((battery.has_failsafed() && battery.get_highest_failsafe_priority() <= FAILSAFE_LAND_PRIORITY))) {
// Allow landing to continue when battery failsafe requires it (not a user option)
gcs().send_text(MAV_SEVERITY_WARNING, "Radio + Battery Failsafe - Continuing Landing");
desired_action = Failsafe_Action_Land;
} else if (flightmode->is_landing() && failsafe_option(FailsafeOption::CONTINUE_IF_LANDING)) {
// Allow landing to continue when FS_OPTIONS is set to continue landing
gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe - Continuing Landing");
desired_action = Failsafe_Action_Land;
} else if (control_mode == Mode::Number::AUTO && failsafe_option(FailsafeOption::RC_CONTINUE_IF_AUTO)) {
// Allow mission to continue when FS_OPTIONS is set to continue mission
gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe - Continuing Auto Mode");
desired_action = Failsafe_Action_None;
} else if ((flightmode->in_guided_mode()) &&
(failsafe_option(FailsafeOption::RC_CONTINUE_IF_GUIDED)) && (g.failsafe_gcs != FS_GCS_DISABLED)) {
// Allow guided mode to continue when FS_OPTIONS is set to continue in guided mode. Only if the GCS failsafe is enabled.
gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe - Continuing Guided Mode");
desired_action = Failsafe_Action_None;
} else {
gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe");
}
// Call the failsafe action handler
do_failsafe_action(desired_action, ModeReason::RADIO_FAILSAFE);
}
// failsafe_off_event - respond to radio contact being regained
void Copter::failsafe_radio_off_event()
{
// no need to do anything except log the error as resolved
// user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_RESOLVED);
gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe Cleared");
}
void Copter::handle_battery_failsafe(const char *type_str, const int8_t action)
{
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_BATT, LogErrorCode::FAILSAFE_OCCURRED);
Failsafe_Action desired_action = (Failsafe_Action)action;
// Conditions to deviate from BATT_FS_XXX_ACT parameter setting
if (should_disarm_on_failsafe()) {
// should immediately disarm when we're on the ground
arming.disarm();
desired_action = Failsafe_Action_None;
gcs().send_text(MAV_SEVERITY_WARNING, "Battery Failsafe - Disarming");
} else if (flightmode->is_landing() && failsafe_option(FailsafeOption::CONTINUE_IF_LANDING) && desired_action != Failsafe_Action_None) {
// Allow landing to continue when FS_OPTIONS is set to continue when landing
desired_action = Failsafe_Action_Land;
gcs().send_text(MAV_SEVERITY_WARNING, "Battery Failsafe - Continuing Landing");
} else {
gcs().send_text(MAV_SEVERITY_WARNING, "Battery Failsafe");
}
// Battery FS options already use the Failsafe_Options enum. So use them directly.
do_failsafe_action(desired_action, ModeReason::BATTERY_FAILSAFE);
}
// failsafe_gcs_check - check for ground station failsafe
void Copter::failsafe_gcs_check()
{
// Bypass GCS failsafe checks if disabled or GCS never connected
if (g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0) {
return;
}
// calc time since last gcs update
// note: this only looks at the heartbeat from the device id set by g.sysid_my_gcs
const uint32_t last_gcs_update_ms = millis() - failsafe.last_heartbeat_ms;
// Determine which event to trigger
if (last_gcs_update_ms < FS_GCS_TIMEOUT_MS && failsafe.gcs) {
// Recovery from a GCS failsafe
set_failsafe_gcs(false);
failsafe_gcs_off_event();
} else if (last_gcs_update_ms < FS_GCS_TIMEOUT_MS && !failsafe.gcs) {
// No problem, do nothing
} else if (last_gcs_update_ms > FS_GCS_TIMEOUT_MS && failsafe.gcs) {
// Already in failsafe, do nothing
} else if (last_gcs_update_ms > FS_GCS_TIMEOUT_MS && !failsafe.gcs) {
// New GCS failsafe event, trigger events
set_failsafe_gcs(true);
failsafe_gcs_on_event();
}
}
// failsafe_gcs_on_event - actions to take when GCS contact is lost
void Copter::failsafe_gcs_on_event(void)
{
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_OCCURRED);
RC_Channels::clear_overrides();
// convert the desired failsafe response to the Failsafe_Action enum
Failsafe_Action desired_action;
switch (g.failsafe_gcs) {
case FS_GCS_DISABLED:
desired_action = Failsafe_Action_None;
break;
case FS_GCS_ENABLED_ALWAYS_RTL:
case FS_GCS_ENABLED_CONTINUE_MISSION:
desired_action = Failsafe_Action_RTL;
break;
case FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL:
desired_action = Failsafe_Action_SmartRTL;
break;
case FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND:
desired_action = Failsafe_Action_SmartRTL_Land;
break;
case FS_GCS_ENABLED_ALWAYS_LAND:
desired_action = Failsafe_Action_Land;
break;
default: // if an invalid parameter value is set, the fallback is RTL
desired_action = Failsafe_Action_RTL;
}
// Conditions to deviate from FS_GCS_ENABLE parameter setting
if (!motors->armed()) {
desired_action = Failsafe_Action_None;
gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe");
} else if (should_disarm_on_failsafe()) {
// should immediately disarm when we're on the ground
arming.disarm();
desired_action = Failsafe_Action_None;
gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe - Disarming");
} else if (flightmode->is_landing() && ((battery.has_failsafed() && battery.get_highest_failsafe_priority() <= FAILSAFE_LAND_PRIORITY))) {
// Allow landing to continue when battery failsafe requires it (not a user option)
gcs().send_text(MAV_SEVERITY_WARNING, "GCS + Battery Failsafe - Continuing Landing");
desired_action = Failsafe_Action_Land;
} else if (flightmode->is_landing() && failsafe_option(FailsafeOption::CONTINUE_IF_LANDING)) {
// Allow landing to continue when FS_OPTIONS is set to continue landing
gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe - Continuing Landing");
desired_action = Failsafe_Action_Land;
} else if (control_mode == Mode::Number::AUTO && failsafe_option(FailsafeOption::GCS_CONTINUE_IF_AUTO)) {
// Allow mission to continue when FS_OPTIONS is set to continue mission
gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe - Continuing Auto Mode");
desired_action = Failsafe_Action_None;
} else if (failsafe_option(FailsafeOption::GCS_CONTINUE_IF_PILOT_CONTROL) && !flightmode->is_autopilot()) {
// should continue when in a pilot controlled mode because FS_OPTIONS is set to continue in pilot controlled modes
gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe - Continuing Pilot Control");
desired_action = Failsafe_Action_None;
} else {
gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe");
}
// Call the failsafe action handler
do_failsafe_action(desired_action, ModeReason::GCS_FAILSAFE);
}
// failsafe_gcs_off_event - actions to take when GCS contact is restored
void Copter::failsafe_gcs_off_event(void)
{
gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe Cleared");
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_RESOLVED);
}
// executes terrain failsafe if data is missing for longer than a few seconds
// missing_data should be set to true if the vehicle failed to navigate because of missing data, false if navigation is proceeding successfully
void Copter::failsafe_terrain_check()
{
// trigger with 5 seconds of failures while in AUTO mode
bool valid_mode = (control_mode == Mode::Number::AUTO ||
control_mode == Mode::Number::GUIDED ||
control_mode == Mode::Number::GUIDED_NOGPS ||
control_mode == Mode::Number::RTL);
bool timeout = (failsafe.terrain_last_failure_ms - failsafe.terrain_first_failure_ms) > FS_TERRAIN_TIMEOUT_MS;
bool trigger_event = valid_mode && timeout;
// check for clearing of event
if (trigger_event != failsafe.terrain) {
if (trigger_event) {
failsafe_terrain_on_event();
} else {
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::ERROR_RESOLVED);
failsafe.terrain = false;
}
}
}
// set terrain data status (found or not found)
void Copter::failsafe_terrain_set_status(bool data_ok)
{
uint32_t now = millis();
// record time of first and latest failures (i.e. duration of failures)
if (!data_ok) {
failsafe.terrain_last_failure_ms = now;
if (failsafe.terrain_first_failure_ms == 0) {
failsafe.terrain_first_failure_ms = now;
}
} else {
// failures cleared after 0.1 seconds of persistent successes
if (now - failsafe.terrain_last_failure_ms > 100) {
failsafe.terrain_last_failure_ms = 0;
failsafe.terrain_first_failure_ms = 0;
}
}
}
// terrain failsafe action
void Copter::failsafe_terrain_on_event()
{
failsafe.terrain = true;
gcs().send_text(MAV_SEVERITY_CRITICAL,"Failsafe: Terrain data missing");
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::FAILSAFE_OCCURRED);
if (should_disarm_on_failsafe()) {
arming.disarm();
#if MODE_RTL_ENABLED == ENABLED
} else if (control_mode == Mode::Number::RTL) {
mode_rtl.restart_without_terrain();
#endif
} else {
set_mode_RTL_or_land_with_pause(ModeReason::TERRAIN_FAILSAFE);
}
}
// check for gps glitch failsafe
void Copter::gpsglitch_check()
{
// get filter status
nav_filter_status filt_status = inertial_nav.get_filter_status();
bool gps_glitching = filt_status.flags.gps_glitching;
// log start or stop of gps glitch. AP_Notify update is handled from within AP_AHRS
if (ap.gps_glitching != gps_glitching) {
ap.gps_glitching = gps_glitching;
if (gps_glitching) {
AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH);
gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch");
} else {
AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED);
gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch cleared");
}
}
}
// set_mode_RTL_or_land_with_pause - sets mode to RTL if possible or LAND with 4 second delay before descent starts
// this is always called from a failsafe so we trigger notification to pilot
void Copter::set_mode_RTL_or_land_with_pause(ModeReason reason)
{
// attempt to switch to RTL, if this fails then switch to Land
if (!set_mode(Mode::Number::RTL, reason)) {
// set mode to land will trigger mode change notification to pilot
set_mode_land_with_pause(reason);
} else {
// alert pilot to mode change
AP_Notify::events.failsafe_mode_change = 1;
}
}
// set_mode_SmartRTL_or_land_with_pause - sets mode to SMART_RTL if possible or LAND with 4 second delay before descent starts
// this is always called from a failsafe so we trigger notification to pilot
void Copter::set_mode_SmartRTL_or_land_with_pause(ModeReason reason)
{
// attempt to switch to SMART_RTL, if this failed then switch to Land
if (!set_mode(Mode::Number::SMART_RTL, reason)) {
gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Using Land Mode");
set_mode_land_with_pause(reason);
} else {
AP_Notify::events.failsafe_mode_change = 1;
}
}
// set_mode_SmartRTL_or_RTL - sets mode to SMART_RTL if possible or RTL if possible or LAND with 4 second delay before descent starts
// this is always called from a failsafe so we trigger notification to pilot
void Copter::set_mode_SmartRTL_or_RTL(ModeReason reason)
{
// attempt to switch to SmartRTL, if this failed then attempt to RTL
// if that fails, then land
if (!set_mode(Mode::Number::SMART_RTL, reason)) {
gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Trying RTL Mode");
set_mode_RTL_or_land_with_pause(reason);
} else {
AP_Notify::events.failsafe_mode_change = 1;
}
}
bool Copter::should_disarm_on_failsafe() {
if (ap.in_arming_delay) {
return true;
}
switch (control_mode) {
case Mode::Number::STABILIZE:
case Mode::Number::ACRO:
// if throttle is zero OR vehicle is landed disarm motors
return ap.throttle_zero || ap.land_complete;
case Mode::Number::AUTO:
// if mission has not started AND vehicle is landed, disarm motors
return !ap.auto_armed && ap.land_complete;
default:
// used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, Autotune, PosHold
// if landed disarm
return ap.land_complete;
}
}
void Copter::do_failsafe_action(Failsafe_Action action, ModeReason reason){
// Execute the specified desired_action
switch (action) {
case Failsafe_Action_None:
return;
case Failsafe_Action_Land:
set_mode_land_with_pause(reason);
break;
case Failsafe_Action_RTL:
set_mode_RTL_or_land_with_pause(reason);
break;
case Failsafe_Action_SmartRTL:
set_mode_SmartRTL_or_RTL(reason);
break;
case Failsafe_Action_SmartRTL_Land:
set_mode_SmartRTL_or_land_with_pause(reason);
break;
case Failsafe_Action_Terminate: {
#if ADVANCED_FAILSAFE == ENABLED
g2.afs.gcs_terminate(true, "Failsafe");
#else
arming.disarm();
#endif
}
break;
}
}
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