mirror of https://github.com/ArduPilot/ardupilot
97 lines
2.2 KiB
C++
97 lines
2.2 KiB
C++
#ifndef APM_OBC_H
|
|
#define APM_OBC_H
|
|
/*
|
|
Outback Challenge Failsafe module
|
|
|
|
Andrew Tridgell and CanberraUAV, August 2012
|
|
|
|
This library is free software; you can redistribute it and/or
|
|
modify it under the terms of the GNU Lesser General Public
|
|
License as published by the Free Software Foundation; either
|
|
version 2.1 of the License, or (at your option) any later version.
|
|
*/
|
|
|
|
#include <AP_Common.h>
|
|
#include <AP_Param.h>
|
|
#include <inttypes.h>
|
|
|
|
|
|
class APM_OBC
|
|
{
|
|
public:
|
|
enum control_mode {
|
|
OBC_MANUAL = 0,
|
|
OBC_FBW = 1,
|
|
OBC_AUTO = 2
|
|
};
|
|
|
|
enum state {
|
|
STATE_PREFLIGHT = 0,
|
|
STATE_AUTO = 1,
|
|
STATE_DATA_LINK_LOSS = 2,
|
|
STATE_GPS_LOSS = 3
|
|
};
|
|
|
|
// Constructor
|
|
APM_OBC(void)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
|
|
_last_heartbeat_pin = -1;
|
|
_last_manual_pin = -1;
|
|
_state = STATE_PREFLIGHT;
|
|
_terminate.set(0);
|
|
|
|
// get a pointer to COMMAND_INDEX so we can resume a
|
|
// auto mission when a failsafe condition is resolved
|
|
enum ap_var_type var_type;
|
|
_command_index = (AP_Int8 *)AP_Param::find("CMD_INDEX", &var_type);
|
|
_saved_wp = 0;
|
|
}
|
|
|
|
void check(enum control_mode control_mode,
|
|
uint32_t last_heartbeat_ms,
|
|
uint32_t last_gps_fix_ms);
|
|
|
|
// should we crash the plane? Only possible with
|
|
// FS_TERM_ACTTION set to 43
|
|
bool crash_plane(void) {
|
|
return _terminate && _terminate_action == 42;
|
|
}
|
|
|
|
// for holding parameters
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
private:
|
|
enum state _state;
|
|
|
|
// digital output pins for communicating with the failsafe board
|
|
AP_Int8 _heartbeat_pin;
|
|
AP_Int8 _manual_pin;
|
|
AP_Int8 _terminate_pin;
|
|
AP_Int8 _terminate;
|
|
AP_Int8 _terminate_action;
|
|
|
|
// last pins to cope with changing at runtime
|
|
int8_t _last_heartbeat_pin;
|
|
int8_t _last_manual_pin;
|
|
int8_t _last_terminate_pin;
|
|
|
|
// waypoint numbers to jump to on failsafe conditions
|
|
AP_Int8 _wp_comms_hold;
|
|
AP_Int8 _wp_gps_loss;
|
|
|
|
bool _heartbeat_pin_value;
|
|
|
|
// pointer to command index parameter in g
|
|
AP_Int8 *_command_index;
|
|
|
|
// saved waypoint for resuming mission
|
|
uint8_t _saved_wp;
|
|
};
|
|
|
|
// map from ArduPlane control_mode to APM_OBC::control_mode
|
|
#define OBC_MODE(control_mode) ((control_mode==AUTO?APM_OBC::OBC_AUTO:control_mode==MANUAL?APM_OBC::OBC_MANUAL:APM_OBC::OBC_FBW))
|
|
|
|
#endif // APM_OBC_H
|