ardupilot/ArduPlane/afs_plane.cpp

114 lines
4.6 KiB
C++

/*
plane specific AP_AdvancedFailsafe class
*/
#include "Plane.h"
#if AP_ADVANCEDFAILSAFE_ENABLED
/*
setup radio_out values for all channels to termination values
*/
void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
{
#if HAL_QUADPLANE_ENABLED
if (plane.quadplane.available() && _terminate_action == TERMINATE_ACTION_LAND) {
// perform a VTOL landing
plane.set_mode(plane.mode_qland, ModeReason::FENCE_BREACHED);
return;
}
#endif
plane.g2.servo_channels.disable_passthrough(true);
if (_terminate_action == TERMINATE_ACTION_LAND) {
plane.landing.terminate();
} else {
// remove flap slew limiting
SRV_Channels::set_slew_rate(SRV_Channel::k_flap_auto, 0.0, 100, plane.G_Dt);
SRV_Channels::set_slew_rate(SRV_Channel::k_flap, 0.0, 100, plane.G_Dt);
// aerodynamic termination is the default approach to termination
SRV_Channels::set_output_scaled(SRV_Channel::k_flap_auto, 100.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_flap, 100.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, SERVO_MAX);
if (plane.have_reverse_thrust()) {
// configured for reverse thrust, use TRIM
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::TRIM);
} else {
// use MIN
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::MIN);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::MIN);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::MIN);
}
SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::Limit::TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::Limit::TRIM);
}
plane.servos_output();
#if HAL_QUADPLANE_ENABLED
plane.quadplane.afs_terminate();
#endif
// also disarm to ensure that ignition is cut
plane.arming.disarm(AP_Arming::Method::AFS);
}
void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
{
// all aux channels
SRV_Channels::set_failsafe_limit(SRV_Channel::k_flap_auto, SRV_Channel::Limit::MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_flap, SRV_Channel::Limit::MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_aileron, SRV_Channel::Limit::MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::Limit::MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::Limit::MAX);
if (plane.have_reverse_thrust()) {
// configured for reverse thrust, use TRIM
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::TRIM);
} else {
// normal throttle, use MIN
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::MIN);
}
SRV_Channels::set_failsafe_limit(SRV_Channel::k_manual, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_none, SRV_Channel::Limit::TRIM);
#if HAL_QUADPLANE_ENABLED
if (plane.quadplane.available()) {
// setup AP_Motors outputs for failsafe
uint32_t mask = plane.quadplane.motors->get_motor_mask();
hal.rcout->set_failsafe_pwm(mask, plane.quadplane.motors->get_pwm_output_min());
}
#endif
}
/*
return an AFS_MODE for current control mode
*/
AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Plane::afs_mode(void)
{
if (plane.control_mode->does_auto_throttle()) {
return AP_AdvancedFailsafe::AFS_AUTO;
}
if (plane.control_mode == &plane.mode_manual) {
return AP_AdvancedFailsafe::AFS_MANUAL;
}
return AP_AdvancedFailsafe::AFS_STABILIZED;
}
//to force entering auto mode when datalink loss
void AP_AdvancedFailsafe_Plane::set_mode_auto(void)
{
plane.set_mode(plane.mode_auto,ModeReason::GCS_FAILSAFE);
}
#endif // AP_ADVANCEDFAILSAFE_ENABLED