mirror of https://github.com/ArduPilot/ardupilot
126 lines
3.9 KiB
Plaintext
126 lines
3.9 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* This event will be called when the failsafe changes
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* boolean failsafe reflects the current state
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*/
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static void failsafe_on_event()
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{
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// if motors are not armed there is nothing to do
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if( !motors.armed() ) {
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return;
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}
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// This is how to handle a failsafe.
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switch(control_mode) {
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case STABILIZE:
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case ACRO:
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// if throttle is zero disarm motors
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if (g.rc_3.control_in == 0) {
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init_disarm_motors();
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}else if(ap.home_is_set == true) {
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set_mode(RTL);
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}else{
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// We have no GPS so we will land
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set_mode(LAND);
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}
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break;
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case AUTO:
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// failsafe_throttle is 1 do RTL, 2 means continue with the mission
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if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_RTL) {
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// To-Do: check distance from home before initiating RTL
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set_mode(RTL);
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}
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// if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
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break;
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default:
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if(ap.home_is_set == true) {
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// same as above ^
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// do_rtl sets the altitude to the current altitude by default
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// To-Do: check distance from home before initiating RTL
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set_mode(RTL);
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}else{
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// We have no GPS so we will crash land in alt hold mode
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// the low throttle will bring us down at the maximum descent speed
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// To-Do: make LAND a throttle mode so it can operate without GPS
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set_mode(ALT_HOLD);
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set_new_altitude(0);
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}
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break;
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}
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}
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// failsafe_off_event - respond to radio contact being regained
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// we must be in AUTO, LAND or RTL modes
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// or Stabilize or ACRO mode but with motors disarmed
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static void failsafe_off_event()
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{
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// no need to do anything
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// user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
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}
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static void low_battery_event(void)
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{
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// warn the ground station
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gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!"));
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// failsafe check
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if (g.failsafe_battery_enabled && !ap.low_battery && motors.armed()) {
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switch(control_mode) {
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case STABILIZE:
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case ACRO:
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// if throttle is zero disarm motors
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if (g.rc_3.control_in == 0) {
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init_disarm_motors();
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}else{
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set_mode(LAND);
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}
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break;
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case AUTO:
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// To-Do: check distance to home before initiating RTL?
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set_mode(RTL);
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break;
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default:
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set_mode(LAND);
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break;
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}
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}
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// set the low battery flag
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set_low_battery(true);
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#if COPTER_LEDS == ENABLED
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if ( bitRead(g.copter_leds_mode, 3) ) { // Only Activate if a battery is connected to avoid alarm on USB only
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piezo_on();
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}
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#endif // COPTER_LEDS
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}
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static void update_events() // Used for MAV_CMD_DO_REPEAT_SERVO and MAV_CMD_DO_REPEAT_RELAY
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{
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if(event_repeat == 0 || (millis() - event_timer) < event_delay)
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return;
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if (event_repeat > 0) {
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event_repeat--;
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}
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if(event_repeat != 0) { // event_repeat = -1 means repeat forever
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event_timer = millis();
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if (event_id >= CH_5 && event_id <= CH_8) {
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if(event_repeat%2) {
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hal.rcout->write(event_id, event_value); // send to Servos
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} else {
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hal.rcout->write(event_id, event_undo_value);
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}
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}
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if (event_id == RELAY_TOGGLE) {
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relay.toggle();
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}
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}
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}
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