mirror of https://github.com/ArduPilot/ardupilot
144 lines
3.9 KiB
C++
144 lines
3.9 KiB
C++
#pragma once
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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/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Mission/AP_Mission.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_RCMapper/AP_RCMapper.h>
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#include <inttypes.h>
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class AP_AdvancedFailsafe
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{
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public:
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enum control_mode {
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AFS_MANUAL = 0,
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AFS_STABILIZED = 1,
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AFS_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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enum terminate_action {
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TERMINATE_ACTION_TERMINATE = 42,
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TERMINATE_ACTION_LAND = 43
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};
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// Constructor
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AP_AdvancedFailsafe(AP_Mission &_mission, const AP_GPS &_gps) :
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mission(_mission),
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gps(_gps),
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_gps_loss_count(0),
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_comms_loss_count(0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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_state = STATE_PREFLIGHT;
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_terminate.set(0);
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_saved_wp = 0;
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}
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// check that everything is OK
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void check(uint32_t last_heartbeat_ms, bool geofence_breached, uint32_t last_valid_rc_ms);
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// generate heartbeat msgs, so external failsafe boards are happy
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// during sensor calibration
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void heartbeat(void);
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// return true if we are terminating (deliberately crashing the vehicle)
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bool should_crash_vehicle(void);
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// enables or disables a GCS based termination, returns true if AFS is in the desired termination state
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bool gcs_terminate(bool should_terminate, const char *reason);
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// called to set all outputs to termination state
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virtual void terminate_vehicle(void) = 0;
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// for holding parameters
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// setup failsafe values for if FMU firmware stops running
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virtual void setup_IO_failsafe(void) = 0;
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// return the AFS mapped control mode
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virtual enum control_mode afs_mode(void) = 0;
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enum state _state;
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AP_Mission &mission;
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const AP_GPS &gps;
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AP_Int8 _enable;
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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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// 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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AP_Float _qnh_pressure;
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AP_Int32 _amsl_limit;
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AP_Int32 _amsl_margin_gps;
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AP_Float _rc_fail_time_seconds;
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AP_Int8 _max_gps_loss;
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AP_Int8 _max_comms_loss;
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AP_Int8 _enable_geofence_fs;
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AP_Int8 _enable_RC_fs;
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AP_Int8 _rc_term_manual_only;
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AP_Int8 _enable_dual_loss;
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bool _heartbeat_pin_value;
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// saved waypoint for resuming mission
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uint8_t _saved_wp;
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// number of times we've lost GPS
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uint8_t _gps_loss_count;
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// number of times we've lost data link
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uint8_t _comms_loss_count;
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// last comms loss time
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uint32_t _last_comms_loss_ms;
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// last GPS loss time
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uint32_t _last_gps_loss_ms;
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// have the failsafe values been setup?
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bool _failsafe_setup:1;
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bool check_altlimit(void);
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};
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