mirror of https://github.com/ArduPilot/ardupilot
106 lines
2.6 KiB
C++
106 lines
2.6 KiB
C++
#ifndef APM_OBC_H
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#define APM_OBC_H
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Outback Challenge Failsafe module
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Andrew Tridgell and CanberraUAV, August 2012
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*/
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <inttypes.h>
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class APM_OBC
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{
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public:
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enum control_mode {
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OBC_MANUAL = 0,
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OBC_FBW = 1,
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OBC_AUTO = 2
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};
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enum state {
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STATE_PREFLIGHT = 0,
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STATE_AUTO = 1,
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STATE_DATA_LINK_LOSS = 2,
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STATE_GPS_LOSS = 3
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};
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// Constructor
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APM_OBC(void)
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{
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AP_Param::setup_object_defaults(this, var_info);
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_last_heartbeat_pin = -1;
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_last_manual_pin = -1;
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_state = STATE_PREFLIGHT;
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_terminate.set(0);
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// get a pointer to COMMAND_INDEX so we can resume a
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// auto mission when a failsafe condition is resolved
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enum ap_var_type var_type;
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_command_index = (AP_Int8 *)AP_Param::find("CMD_INDEX", &var_type);
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_saved_wp = 0;
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}
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void check(enum control_mode control_mode,
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uint32_t last_heartbeat_ms,
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uint32_t last_gps_fix_ms);
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// should we crash the plane? Only possible with
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// FS_TERM_ACTTION set to 43
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bool crash_plane(void) {
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return _terminate && _terminate_action == 42;
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}
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// for holding parameters
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static const struct AP_Param::GroupInfo var_info[];
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private:
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enum state _state;
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// digital output pins for communicating with the failsafe board
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AP_Int8 _heartbeat_pin;
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AP_Int8 _manual_pin;
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AP_Int8 _terminate_pin;
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AP_Int8 _terminate;
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AP_Int8 _terminate_action;
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// last pins to cope with changing at runtime
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int8_t _last_heartbeat_pin;
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int8_t _last_manual_pin;
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int8_t _last_terminate_pin;
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// waypoint numbers to jump to on failsafe conditions
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AP_Int8 _wp_comms_hold;
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AP_Int8 _wp_gps_loss;
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bool _heartbeat_pin_value;
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// pointer to command index parameter in g
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AP_Int8 *_command_index;
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// saved waypoint for resuming mission
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uint8_t _saved_wp;
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};
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// map from ArduPlane control_mode to APM_OBC::control_mode
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#define OBC_MODE(control_mode) ((control_mode==AUTO?APM_OBC::OBC_AUTO:control_mode==MANUAL?APM_OBC::OBC_MANUAL:APM_OBC::OBC_FBW))
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#endif // APM_OBC_H
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