mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.7 KiB
C++
66 lines
2.7 KiB
C++
#include "Rover.h"
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// Code to detect a crash or block
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static const uint16_t CRASH_CHECK_TRIGGER_SEC = 2; // 2 seconds blocked indicates a crash
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static const float CRASH_CHECK_THROTTLE_MIN = 5.0f; // vehicle must have a throttle greater that 5% to be considered crashed
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static const float CRASH_CHECK_VEL_MIN = 0.08f; // vehicle must have a velocity under 0.08 m/s or rad/s to be considered crashed
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// crash_check - disarms motors if a crash or block has been detected
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// crashes are detected by the vehicle being static (no speed) for more than CRASH_CHECK_TRIGGER_SEC and motor are running
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// called at 10Hz
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void Rover::crash_check()
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{
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static uint16_t crash_counter; // number of iterations vehicle may have been crashed
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bool crashed = false; //stores crash state
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// return immediately if disarmed, crash checking is disabled or vehicle is Hold, Manual or Acro mode(if it is not a balance bot)
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if (!arming.is_armed() || g.fs_crash_check == FS_CRASH_DISABLE || ((!control_mode->is_autopilot_mode()) && (!is_balancebot()))) {
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crash_counter = 0;
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return;
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}
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// Crashed if pitch/roll > crash_angle
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if ((g2.crash_angle != 0) && ((fabsf(ahrs.pitch) > radians(g2.crash_angle)) || (fabsf(ahrs.roll) > radians(g2.crash_angle)))) {
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crashed = true;
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}
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// TODO : Check if min vel can be calculated
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// min_vel = ( CRASH_CHECK_THROTTLE_MIN * g.speed_cruise) / g.throttle_cruise;
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if (!is_balancebot()) {
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if (!crashed && ((ahrs.groundspeed() >= CRASH_CHECK_VEL_MIN) || // Check velocity
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(fabsf(ahrs.get_gyro().z) >= CRASH_CHECK_VEL_MIN) || // Check turn speed
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(fabsf(g2.motors.get_throttle()) < CRASH_CHECK_THROTTLE_MIN))) {
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crash_counter = 0;
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return;
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}
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// we may be crashing
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crash_counter++;
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// check if crashing for 2 seconds
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if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * 10)) {
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crashed = true;
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}
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}
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if (crashed) {
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AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK,
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LogErrorCode::CRASH_CHECK_CRASH);
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if (is_balancebot()) {
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// send message to gcs
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gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Disarming");
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arming.disarm(AP_Arming::Method::CRASH);
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} else {
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// send message to gcs
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gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Going to HOLD");
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// change mode to hold and disarm
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set_mode(mode_hold, ModeReason::CRASH_FAILSAFE);
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if (g.fs_crash_check == FS_CRASH_HOLD_AND_DISARM) {
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arming.disarm(AP_Arming::Method::CRASH);
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}
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}
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}
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}
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