ardupilot/APMrover2/crash_check.cpp

47 lines
1.8 KiB
C++

#include "Rover.h"
// Code to detect a crash or block
#define CRASH_CHECK_TRIGGER_SEC 2 // 2 seconds blocked indicates a crash
#define CRASH_CHECK_THROTTLE_MIN 5.0f // vehicle must have a throttle greater that 5% to be considered crashed
#define CRASH_CHECK_VEL_MIN 0.08f // vehicle must have a velocity under 0.08 m/s or rad/s to be considered crashed
// crash_check - disarms motors if a crash or block has been detected
// crashes are detected by the vehicle being static (no speed) for more than CRASH_CHECK_TRIGGER_SEC and motor are running
// called at 10Hz
void Rover::crash_check()
{
static uint16_t crash_counter; // number of iterations vehicle may have been crashed
// return immediately if disarmed, or crash checking disabled or in HOLD mode
if (!arming.is_armed() || g.fs_crash_check == FS_CRASH_DISABLE || (control_mode != GUIDED && control_mode != AUTO)) {
crash_counter = 0;
return;
}
// TODO : Check if min vel can be calculated
// min_vel = ( CRASH_CHECK_THROTTLE_MIN * g.speed_cruise) / g.throttle_cruise;
if ((ahrs.groundspeed() >= CRASH_CHECK_VEL_MIN) || // Check velocity
(fabsf(ahrs.get_gyro().z) >= CRASH_CHECK_VEL_MIN) || // Check turn speed
((100 * fabsf(SRV_Channels::get_output_norm(SRV_Channel::k_throttle))) < CRASH_CHECK_THROTTLE_MIN)) {
crash_counter = 0;
return;
}
// we may be crashing
crash_counter++;
// check if crashing for 2 seconds
if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * 10)) {
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
// send message to gcs
gcs_send_text(MAV_SEVERITY_EMERGENCY, "Crash: Going to HOLD");
// change mode to hold and disarm
set_mode(HOLD);
if (g.fs_crash_check == FS_CRASH_HOLD_AND_DISARM) {
disarm_motors();
}
}
}