mirror of https://github.com/ArduPilot/ardupilot
281 lines
10 KiB
C++
281 lines
10 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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/*
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* This event will be called when the failsafe changes
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* boolean failsafe reflects the current state
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*/
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void Copter::failsafe_radio_on_event()
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{
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// if motors are not armed there is nothing to do
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if( !motors.armed() ) {
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return;
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}
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// This is how to handle a failsafe.
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switch(control_mode) {
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case STABILIZE:
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case ACRO:
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// if throttle is zero OR vehicle is landed disarm motors
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if (ap.throttle_zero || ap.land_complete) {
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init_disarm_motors();
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// if failsafe_throttle is FS_THR_ENABLED_ALWAYS_LAND then land immediately
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}else if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
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set_mode_land_with_pause();
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// if far from home then RTL
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} else if(home_distance > FS_CLOSE_TO_HOME_CM) {
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// switch to RTL or if that fails, LAND
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set_mode_RTL_or_land_with_pause();
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// We have no GPS or are very close to home so we will land
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}else{
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set_mode_land_with_pause();
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}
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break;
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case AUTO:
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// if mission has not started AND vehicle is landed, disarm motors
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if (!ap.auto_armed && ap.land_complete) {
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init_disarm_motors();
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// if failsafe_throttle is FS_THR_ENABLED_ALWAYS_LAND then land immediately
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} else if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
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set_mode_land_with_pause();
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// if failsafe_throttle is FS_THR_ENABLED_ALWAYS_RTL do RTL
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} else if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_RTL) {
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if (home_distance > FS_CLOSE_TO_HOME_CM) {
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// switch to RTL or if that fails, LAND
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set_mode_RTL_or_land_with_pause();
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}else{
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// We are very close to home so we will land
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set_mode_land_with_pause();
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}
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}
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// failsafe_throttle must be FS_THR_ENABLED_CONTINUE_MISSION so no need to do anything
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break;
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case LAND:
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// continue to land if battery failsafe is also active otherwise fall through to default handling
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if (g.failsafe_battery_enabled == FS_BATT_LAND && failsafe.battery) {
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break;
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}
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// no break
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default:
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// used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, Autotune, PosHold
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// if landed disarm
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if (ap.land_complete) {
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init_disarm_motors();
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// if failsafe_throttle is FS_THR_ENABLED_ALWAYS_LAND then land immediately
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} else if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
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set_mode_land_with_pause();
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// if far from home then RTL
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} else if(home_distance > FS_CLOSE_TO_HOME_CM) {
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// switch to RTL or if that fails, LAND
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set_mode_RTL_or_land_with_pause();
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}else{
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// We have no GPS or are very close to home so we will land
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set_mode_land_with_pause();
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}
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break;
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}
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// log the error to the dataflash
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Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_OCCURRED);
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}
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// failsafe_off_event - respond to radio contact being regained
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// we must be in AUTO, LAND or RTL modes
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// or Stabilize or ACRO mode but with motors disarmed
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void Copter::failsafe_radio_off_event()
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{
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// no need to do anything except log the error as resolved
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// user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
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Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_RESOLVED);
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}
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void Copter::failsafe_battery_event(void)
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{
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// return immediately if low battery event has already been triggered
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if (failsafe.battery) {
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return;
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}
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// failsafe check
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if (g.failsafe_battery_enabled != FS_BATT_DISABLED && motors.armed()) {
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switch(control_mode) {
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case STABILIZE:
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case ACRO:
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// if throttle is zero OR vehicle is landed disarm motors
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if (ap.throttle_zero || ap.land_complete) {
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init_disarm_motors();
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}else{
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// set mode to RTL or LAND
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if (g.failsafe_battery_enabled == FS_BATT_RTL && home_distance > FS_CLOSE_TO_HOME_CM) {
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// switch to RTL or if that fails, LAND
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set_mode_RTL_or_land_with_pause();
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}else{
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set_mode_land_with_pause();
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}
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}
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break;
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case AUTO:
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// if mission has not started AND vehicle is landed, disarm motors
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if (!ap.auto_armed && ap.land_complete) {
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init_disarm_motors();
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// set mode to RTL or LAND
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} else if (home_distance > FS_CLOSE_TO_HOME_CM) {
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// switch to RTL or if that fails, LAND
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set_mode_RTL_or_land_with_pause();
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} else {
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set_mode_land_with_pause();
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}
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break;
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default:
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// used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, Autotune, PosHold
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// if landed disarm
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if (ap.land_complete) {
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init_disarm_motors();
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// set mode to RTL or LAND
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} else if (g.failsafe_battery_enabled == FS_BATT_RTL && home_distance > FS_CLOSE_TO_HOME_CM) {
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// switch to RTL or if that fails, LAND
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set_mode_RTL_or_land_with_pause();
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} else {
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set_mode_land_with_pause();
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}
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break;
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}
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}
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// set the low battery flag
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set_failsafe_battery(true);
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// warn the ground station and log to dataflash
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gcs_send_text(MAV_SEVERITY_WARNING,"Low Battery!");
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Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
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}
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// failsafe_gcs_check - check for ground station failsafe
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void Copter::failsafe_gcs_check()
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{
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uint32_t last_gcs_update_ms;
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// return immediately if gcs failsafe is disabled, gcs has never been connected or we are not overriding rc controls from the gcs and we are not in guided mode
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// this also checks to see if we have a GCS failsafe active, if we do, then must continue to process the logic for recovery from this state.
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if ((!failsafe.gcs)&&(g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0 || (!failsafe.rc_override_active && control_mode != GUIDED))) {
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return;
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}
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// calc time since last gcs update
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// note: this only looks at the heartbeat from the device id set by g.sysid_my_gcs
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last_gcs_update_ms = millis() - failsafe.last_heartbeat_ms;
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// check if all is well
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if (last_gcs_update_ms < FS_GCS_TIMEOUT_MS) {
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// check for recovery from gcs failsafe
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if (failsafe.gcs) {
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failsafe_gcs_off_event();
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set_failsafe_gcs(false);
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}
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return;
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}
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// do nothing if gcs failsafe already triggered or motors disarmed
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if (failsafe.gcs || !motors.armed()) {
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return;
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}
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// GCS failsafe event has occured
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// update state, log to dataflash
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set_failsafe_gcs(true);
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Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GCS, ERROR_CODE_FAILSAFE_OCCURRED);
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// clear overrides so that RC control can be regained with radio.
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hal.rcin->clear_overrides();
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failsafe.rc_override_active = false;
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// This is how to handle a failsafe.
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// use the throttle failsafe setting to decide what to do
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switch(control_mode) {
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case STABILIZE:
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case ACRO:
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case SPORT:
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// if throttle is zero disarm motors
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if (ap.throttle_zero || ap.land_complete) {
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init_disarm_motors();
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}else if(home_distance > FS_CLOSE_TO_HOME_CM) {
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// switch to RTL or if that fails, LAND
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set_mode_RTL_or_land_with_pause();
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}else{
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// We have no GPS or are very close to home so we will land
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set_mode_land_with_pause();
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}
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break;
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case AUTO:
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// if mission has not started AND vehicle is landed, disarm motors
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if (!ap.auto_armed && ap.land_complete) {
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init_disarm_motors();
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// if g.failsafe_gcs is 1 do RTL, 2 means continue with the mission
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} else if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_RTL) {
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if (home_distance > FS_CLOSE_TO_HOME_CM) {
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// switch to RTL or if that fails, LAND
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set_mode_RTL_or_land_with_pause();
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}else{
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// We are very close to home so we will land
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set_mode_land_with_pause();
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}
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}
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// if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
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break;
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default:
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// used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, Autotune, PosHold
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// if landed disarm
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if (ap.land_complete) {
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init_disarm_motors();
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} else if (home_distance > FS_CLOSE_TO_HOME_CM) {
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// switch to RTL or if that fails, LAND
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set_mode_RTL_or_land_with_pause();
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}else{
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// We have no GPS or are very close to home so we will land
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set_mode_land_with_pause();
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}
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break;
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}
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}
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// failsafe_gcs_off_event - actions to take when GCS contact is restored
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void Copter::failsafe_gcs_off_event(void)
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{
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// log recovery of GCS in logs?
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Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GCS, ERROR_CODE_FAILSAFE_RESOLVED);
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}
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// set_mode_RTL_or_land_with_pause - sets mode to RTL if possible or LAND with 4 second delay before descent starts
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// this is always called from a failsafe so we trigger notification to pilot
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void Copter::set_mode_RTL_or_land_with_pause()
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{
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// attempt to switch to RTL, if this fails then switch to Land
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if (!set_mode(RTL)) {
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// set mode to land will trigger mode change notification to pilot
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set_mode_land_with_pause();
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} else {
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// alert pilot to mode change
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AP_Notify::events.failsafe_mode_change = 1;
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}
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}
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void Copter::update_events()
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{
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ServoRelayEvents.update_events();
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}
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