ardupilot/ArduCopter/events.cpp

287 lines
11 KiB
C++

#include "Copter.h"
/*
* This event will be called when the failsafe changes
* boolean failsafe reflects the current state
*/
void Copter::failsafe_radio_on_event()
{
// if motors are not armed there is nothing to do
if( !motors->armed() ) {
return;
}
if (should_disarm_on_failsafe()) {
init_disarm_motors();
} else {
if (control_mode == AUTO && g.failsafe_throttle == FS_THR_ENABLED_CONTINUE_MISSION) {
// continue mission
} else if (control_mode == LAND &&
battery.has_failsafed() &&
battery.get_highest_failsafe_priority() <= FAILSAFE_LAND_PRIORITY) {
// continue landing or other high priority failsafes
} else {
if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_RTL) {
set_mode_RTL_or_land_with_pause(MODE_REASON_RADIO_FAILSAFE);
} else if (g.failsafe_throttle == FS_THR_ENABLED_CONTINUE_MISSION) {
set_mode_RTL_or_land_with_pause(MODE_REASON_RADIO_FAILSAFE);
} else if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_RTL) {
set_mode_SmartRTL_or_RTL(MODE_REASON_RADIO_FAILSAFE);
} else if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_SMARTRTL_OR_LAND) {
set_mode_SmartRTL_or_land_with_pause(MODE_REASON_RADIO_FAILSAFE);
} else { // g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND
set_mode_land_with_pause(MODE_REASON_RADIO_FAILSAFE);
}
}
}
// log the error to the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_OCCURRED);
}
// failsafe_off_event - respond to radio contact being regained
// we must be in AUTO, LAND or RTL modes
// or Stabilize or ACRO mode but with motors disarmed
void Copter::failsafe_radio_off_event()
{
// no need to do anything except log the error as resolved
// user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_RESOLVED);
}
void Copter::handle_battery_failsafe(const char *type_str, const int8_t action)
{
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
// failsafe check
if (should_disarm_on_failsafe()) {
init_disarm_motors();
} else {
switch ((Failsafe_Action)action) {
case Failsafe_Action_None:
return;
case Failsafe_Action_Land:
set_mode_land_with_pause(MODE_REASON_BATTERY_FAILSAFE);
break;
case Failsafe_Action_RTL:
set_mode_RTL_or_land_with_pause(MODE_REASON_BATTERY_FAILSAFE);
break;
case Failsafe_Action_SmartRTL:
set_mode_SmartRTL_or_RTL(MODE_REASON_BATTERY_FAILSAFE);
break;
case Failsafe_Action_SmartRTL_Land:
set_mode_SmartRTL_or_land_with_pause(MODE_REASON_BATTERY_FAILSAFE);
break;
case Failsafe_Action_Terminate:
#if ADVANCED_FAILSAFE == ENABLED
char battery_type_str[17];
snprintf(battery_type_str, 17, "%s battery", type_str);
g2.afs.gcs_terminate(true, battery_type_str);
#else
init_disarm_motors();
#endif
}
}
}
// failsafe_gcs_check - check for ground station failsafe
void Copter::failsafe_gcs_check()
{
uint32_t last_gcs_update_ms;
// return immediately if gcs failsafe is disabled, gcs has never been connected or we are not overriding rc controls from the gcs and we are not in guided mode
// this also checks to see if we have a GCS failsafe active, if we do, then must continue to process the logic for recovery from this state.
if ((!failsafe.gcs)&&(g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0 || (!failsafe.rc_override_active && control_mode != GUIDED))) {
return;
}
// calc time since last gcs update
// note: this only looks at the heartbeat from the device id set by g.sysid_my_gcs
last_gcs_update_ms = millis() - failsafe.last_heartbeat_ms;
// check if all is well
if (last_gcs_update_ms < FS_GCS_TIMEOUT_MS) {
// check for recovery from gcs failsafe
if (failsafe.gcs) {
failsafe_gcs_off_event();
set_failsafe_gcs(false);
}
return;
}
// do nothing if gcs failsafe already triggered or motors disarmed
if (failsafe.gcs || !motors->armed()) {
return;
}
// GCS failsafe event has occurred
// update state, log to dataflash
set_failsafe_gcs(true);
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GCS, ERROR_CODE_FAILSAFE_OCCURRED);
// clear overrides so that RC control can be regained with radio.
RC_Channels::clear_overrides();
failsafe.rc_override_active = false;
if (should_disarm_on_failsafe()) {
init_disarm_motors();
} else {
if (control_mode == AUTO && g.failsafe_gcs == FS_GCS_ENABLED_CONTINUE_MISSION) {
// continue mission
} else if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL) {
set_mode_SmartRTL_or_RTL(MODE_REASON_GCS_FAILSAFE);
} else if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND) {
set_mode_SmartRTL_or_land_with_pause(MODE_REASON_GCS_FAILSAFE);
} else { // g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_RTL
set_mode_RTL_or_land_with_pause(MODE_REASON_GCS_FAILSAFE);
}
}
}
// failsafe_gcs_off_event - actions to take when GCS contact is restored
void Copter::failsafe_gcs_off_event(void)
{
// log recovery of GCS in logs?
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GCS, ERROR_CODE_FAILSAFE_RESOLVED);
}
// executes terrain failsafe if data is missing for longer than a few seconds
// missing_data should be set to true if the vehicle failed to navigate because of missing data, false if navigation is proceeding successfully
void Copter::failsafe_terrain_check()
{
// trigger with 5 seconds of failures while in AUTO mode
bool valid_mode = (control_mode == AUTO || control_mode == GUIDED || control_mode == GUIDED_NOGPS || control_mode == RTL);
bool timeout = (failsafe.terrain_last_failure_ms - failsafe.terrain_first_failure_ms) > FS_TERRAIN_TIMEOUT_MS;
bool trigger_event = valid_mode && timeout;
// check for clearing of event
if (trigger_event != failsafe.terrain) {
if (trigger_event) {
failsafe_terrain_on_event();
} else {
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_ERROR_RESOLVED);
failsafe.terrain = false;
}
}
}
// set terrain data status (found or not found)
void Copter::failsafe_terrain_set_status(bool data_ok)
{
uint32_t now = millis();
// record time of first and latest failures (i.e. duration of failures)
if (!data_ok) {
failsafe.terrain_last_failure_ms = now;
if (failsafe.terrain_first_failure_ms == 0) {
failsafe.terrain_first_failure_ms = now;
}
} else {
// failures cleared after 0.1 seconds of persistent successes
if (now - failsafe.terrain_last_failure_ms > 100) {
failsafe.terrain_last_failure_ms = 0;
failsafe.terrain_first_failure_ms = 0;
}
}
}
// terrain failsafe action
void Copter::failsafe_terrain_on_event()
{
failsafe.terrain = true;
gcs().send_text(MAV_SEVERITY_CRITICAL,"Failsafe: Terrain data missing");
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_FAILSAFE_OCCURRED);
if (should_disarm_on_failsafe()) {
init_disarm_motors();
#if MODE_RTL_ENABLED == ENABLED
} else if (control_mode == RTL) {
mode_rtl.restart_without_terrain();
#endif
} else {
set_mode_RTL_or_land_with_pause(MODE_REASON_TERRAIN_FAILSAFE);
}
}
// check for gps glitch failsafe
void Copter::gpsglitch_check()
{
// get filter status
nav_filter_status filt_status = inertial_nav.get_filter_status();
bool gps_glitching = filt_status.flags.gps_glitching;
// log start or stop of gps glitch. AP_Notify update is handled from within AP_AHRS
if (ap.gps_glitching != gps_glitching) {
ap.gps_glitching = gps_glitching;
if (gps_glitching) {
Log_Write_Error(ERROR_SUBSYSTEM_GPS, ERROR_CODE_GPS_GLITCH);
gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch");
} else {
Log_Write_Error(ERROR_SUBSYSTEM_GPS, ERROR_CODE_ERROR_RESOLVED);
gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch cleared");
}
}
}
// set_mode_RTL_or_land_with_pause - sets mode to RTL if possible or LAND with 4 second delay before descent starts
// this is always called from a failsafe so we trigger notification to pilot
void Copter::set_mode_RTL_or_land_with_pause(mode_reason_t reason)
{
// attempt to switch to RTL, if this fails then switch to Land
if (!set_mode(RTL, reason)) {
// set mode to land will trigger mode change notification to pilot
set_mode_land_with_pause(reason);
} else {
// alert pilot to mode change
AP_Notify::events.failsafe_mode_change = 1;
}
}
// set_mode_SmartRTL_or_land_with_pause - sets mode to SMART_RTL if possible or LAND with 4 second delay before descent starts
// this is always called from a failsafe so we trigger notification to pilot
void Copter::set_mode_SmartRTL_or_land_with_pause(mode_reason_t reason)
{
// attempt to switch to SMART_RTL, if this failed then switch to Land
if (!set_mode(SMART_RTL, reason)) {
gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Using Land Mode");
set_mode_land_with_pause(reason);
} else {
AP_Notify::events.failsafe_mode_change = 1;
}
}
// set_mode_SmartRTL_or_RTL - sets mode to SMART_RTL if possible or RTL if possible or LAND with 4 second delay before descent starts
// this is always called from a failsafe so we trigger notification to pilot
void Copter::set_mode_SmartRTL_or_RTL(mode_reason_t reason)
{
// attempt to switch to SmartRTL, if this failed then attempt to RTL
// if that fails, then land
if (!set_mode(SMART_RTL, reason)) {
gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Trying RTL Mode");
set_mode_RTL_or_land_with_pause(reason);
} else {
AP_Notify::events.failsafe_mode_change = 1;
}
}
bool Copter::should_disarm_on_failsafe() {
if (ap.in_arming_delay) {
return true;
}
switch(control_mode) {
case STABILIZE:
case ACRO:
// if throttle is zero OR vehicle is landed disarm motors
return ap.throttle_zero || ap.land_complete;
case AUTO:
// if mission has not started AND vehicle is landed, disarm motors
return !ap.auto_armed && ap.land_complete;
default:
// used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, Autotune, PosHold
// if landed disarm
return ap.land_complete;
}
}