mirror of https://github.com/ArduPilot/ardupilot
76 lines
3.1 KiB
C++
76 lines
3.1 KiB
C++
#include "Sub.h"
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// Code to integrate AC_Fence library with main ArduSub code
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#if AC_FENCE == ENABLED
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// fence_check - ask fence library to check for breaches and initiate the response
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// called at 1hz
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void Sub::fence_check()
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{
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// ignore any fence activity when not armed
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if (!motors.armed()) {
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return;
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}
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const uint8_t orig_breaches = fence.get_breaches();
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// check for new breaches; new_breaches is bitmask of fence types breached
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const uint8_t new_breaches = fence.check();
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// if there is a new breach take action
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if (new_breaches) {
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// if the user wants some kind of response and motors are armed
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if (fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
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//
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// // disarm immediately if we think we are on the ground or in a manual flight mode with zero throttle
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// // don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
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// if (ap.land_complete || (mode_has_manual_throttle(control_mode) && ap.throttle_zero && !failsafe.manual_control && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0))){
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// init_disarm_motors();
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// }else{
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// // if we are within 100m of the fence, RTL
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// if (fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
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// if (!set_mode(RTL, MODE_REASON_FENCE_BREACH)) {
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// set_mode(LAND, MODE_REASON_FENCE_BREACH);
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// }
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// }else{
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// // if more than 100m outside the fence just force a land
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// set_mode(LAND, MODE_REASON_FENCE_BREACH);
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// }
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// }
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}
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// log an error in the dataflash
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Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, new_breaches);
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} else if (orig_breaches) {
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// record clearing of breach
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Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED);
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}
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}
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// fence_send_mavlink_status - send fence status to ground station
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void Sub::fence_send_mavlink_status(mavlink_channel_t chan)
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{
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if (fence.enabled()) {
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// traslate fence library breach types to mavlink breach types
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uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
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uint8_t breaches = fence.get_breaches();
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if ((breaches & AC_FENCE_TYPE_ALT_MAX) != 0) {
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mavlink_breach_type = FENCE_BREACH_MAXALT;
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}
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if ((breaches & AC_FENCE_TYPE_CIRCLE) != 0) {
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mavlink_breach_type = FENCE_BREACH_BOUNDARY;
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}
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// send status
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mavlink_msg_fence_status_send(chan,
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(int8_t)(fence.get_breaches()!=0),
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fence.get_breach_count(),
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mavlink_breach_type,
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fence.get_breach_time());
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}
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}
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#endif
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