mirror of https://github.com/ArduPilot/ardupilot
160 lines
4.4 KiB
C++
160 lines
4.4 KiB
C++
#include "Plane.h"
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void Plane::failsafe_short_on_event(enum failsafe_state fstype, mode_reason_t reason)
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{
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// This is how to handle a short loss of control signal failsafe.
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failsafe.state = fstype;
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failsafe.short_timer_ms = millis();
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gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event on: type=%u/reason=%u", fstype, reason);
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switch(control_mode)
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{
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case MANUAL:
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case STABILIZE:
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case ACRO:
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case FLY_BY_WIRE_A:
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case AUTOTUNE:
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case FLY_BY_WIRE_B:
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case CRUISE:
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case TRAINING:
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failsafe.saved_mode = control_mode;
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failsafe.saved_mode_set = true;
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if(g.fs_action_short == FS_ACTION_SHORT_FBWA) {
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set_mode(FLY_BY_WIRE_A, reason);
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} else {
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set_mode(CIRCLE, reason);
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}
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break;
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case QSTABILIZE:
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case QLOITER:
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case QHOVER:
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failsafe.saved_mode = control_mode;
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failsafe.saved_mode_set = true;
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set_mode(QLAND, reason);
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break;
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case AUTO:
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case AVOID_ADSB:
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case GUIDED:
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case LOITER:
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if(g.fs_action_short != FS_ACTION_SHORT_BESTGUESS) {
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failsafe.saved_mode = control_mode;
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failsafe.saved_mode_set = true;
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if(g.fs_action_short == FS_ACTION_SHORT_FBWA) {
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set_mode(FLY_BY_WIRE_A, reason);
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} else {
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set_mode(CIRCLE, reason);
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}
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}
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break;
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case CIRCLE:
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case RTL:
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case QLAND:
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case QRTL:
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default:
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break;
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}
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gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %u", (unsigned)control_mode);
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}
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void Plane::failsafe_long_on_event(enum failsafe_state fstype, mode_reason_t reason)
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{
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// This is how to handle a long loss of control signal failsafe.
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gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event on: type=%u/reason=%u", fstype, reason);
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// If the GCS is locked up we allow control to revert to RC
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hal.rcin->clear_overrides();
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failsafe.state = fstype;
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switch(control_mode)
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{
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case MANUAL:
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case STABILIZE:
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case ACRO:
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case FLY_BY_WIRE_A:
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case AUTOTUNE:
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case FLY_BY_WIRE_B:
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case CRUISE:
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case TRAINING:
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case CIRCLE:
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if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
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#if PARACHUTE == ENABLED
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parachute_release();
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#endif
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} else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
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set_mode(FLY_BY_WIRE_A, reason);
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} else {
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set_mode(RTL, reason);
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}
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break;
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case QSTABILIZE:
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case QHOVER:
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case QLOITER:
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set_mode(QLAND, reason);
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break;
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case AUTO:
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case AVOID_ADSB:
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case GUIDED:
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case LOITER:
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if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
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#if PARACHUTE == ENABLED
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parachute_release();
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#endif
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} else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
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set_mode(FLY_BY_WIRE_A, reason);
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} else if (g.fs_action_long == FS_ACTION_LONG_RTL) {
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set_mode(RTL, reason);
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}
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break;
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case RTL:
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case QLAND:
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case QRTL:
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default:
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break;
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}
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gcs().send_text(MAV_SEVERITY_INFO, "Flight mode = %u", (unsigned)control_mode);
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}
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void Plane::failsafe_short_off_event(mode_reason_t reason)
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{
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// We're back in radio contact
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gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Short event off: reason=%u", reason);
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failsafe.state = FAILSAFE_NONE;
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// re-read the switch so we can return to our preferred mode
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// --------------------------------------------------------
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if (control_mode == CIRCLE && failsafe.saved_mode_set) {
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failsafe.saved_mode_set = false;
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set_mode(failsafe.saved_mode, reason);
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}
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}
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void Plane::failsafe_long_off_event(mode_reason_t reason)
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{
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// We're back in radio contact
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gcs().send_text(MAV_SEVERITY_WARNING, "Failsafe. Long event off: reason=%u", reason);
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failsafe.state = FAILSAFE_NONE;
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}
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void Plane::low_battery_event(void)
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{
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if (failsafe.low_battery) {
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return;
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}
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gcs().send_text(MAV_SEVERITY_WARNING, "Low battery %.2fV used %.0f mAh",
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(double)battery.voltage(), (double)battery.current_total_mah());
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if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
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set_mode(RTL, MODE_REASON_BATTERY_FAILSAFE);
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aparm.throttle_cruise.load();
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}
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failsafe.low_battery = true;
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AP_Notify::flags.failsafe_battery = true;
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}
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void Plane::update_events(void)
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{
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ServoRelayEvents.update_events();
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}
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