mirror of https://github.com/ArduPilot/ardupilot
114 lines
3.0 KiB
C++
114 lines
3.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#ifndef APM_OBC_H
|
|
#define APM_OBC_H
|
|
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
Outback Challenge Failsafe module
|
|
|
|
Andrew Tridgell and CanberraUAV, August 2012
|
|
*/
|
|
|
|
#include <AP_Common.h>
|
|
#include <AP_Param.h>
|
|
#include <AP_Mission.h>
|
|
#include <AP_Baro.h>
|
|
#include <AP_GPS.h>
|
|
#include <AP_RCMapper.h>
|
|
#include <inttypes.h>
|
|
|
|
|
|
class APM_OBC
|
|
{
|
|
public:
|
|
enum control_mode {
|
|
OBC_MANUAL = 0,
|
|
OBC_FBW = 1,
|
|
OBC_AUTO = 2
|
|
};
|
|
|
|
enum state {
|
|
STATE_PREFLIGHT = 0,
|
|
STATE_AUTO = 1,
|
|
STATE_DATA_LINK_LOSS = 2,
|
|
STATE_GPS_LOSS = 3
|
|
};
|
|
|
|
// Constructor
|
|
APM_OBC(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap) :
|
|
mission(_mission),
|
|
baro(_baro),
|
|
gps(_gps),
|
|
rcmap(_rcmap)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
|
|
_state = STATE_PREFLIGHT;
|
|
_terminate.set(0);
|
|
|
|
_saved_wp = 0;
|
|
}
|
|
|
|
void check(enum control_mode control_mode, uint32_t last_heartbeat_ms);
|
|
|
|
// called in servo output code to set servos to crash position if needed
|
|
void check_crash_plane(void);
|
|
|
|
// for holding parameters
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
private:
|
|
enum state _state;
|
|
|
|
AP_Mission &mission;
|
|
AP_Baro &baro;
|
|
const AP_GPS &gps;
|
|
const RCMapper &rcmap;
|
|
|
|
// digital output pins for communicating with the failsafe board
|
|
AP_Int8 _heartbeat_pin;
|
|
AP_Int8 _manual_pin;
|
|
AP_Int8 _terminate_pin;
|
|
AP_Int8 _terminate;
|
|
AP_Int8 _terminate_action;
|
|
|
|
// waypoint numbers to jump to on failsafe conditions
|
|
AP_Int8 _wp_comms_hold;
|
|
AP_Int8 _wp_gps_loss;
|
|
|
|
AP_Float _qnh_pressure;
|
|
AP_Int32 _amsl_limit;
|
|
AP_Int32 _amsl_margin_gps;
|
|
|
|
bool _heartbeat_pin_value;
|
|
|
|
// saved waypoint for resuming mission
|
|
uint8_t _saved_wp;
|
|
|
|
// have the failsafe values been setup?
|
|
bool _failsafe_setup:1;
|
|
|
|
// setup failsafe values for if FMU firmware stops running
|
|
void setup_failsafe(void);
|
|
|
|
bool check_altlimit(void);
|
|
};
|
|
|
|
// map from ArduPlane control_mode to APM_OBC::control_mode
|
|
#define OBC_MODE(control_mode) ((control_mode==AUTO?APM_OBC::OBC_AUTO:control_mode==MANUAL?APM_OBC::OBC_MANUAL:APM_OBC::OBC_FBW))
|
|
|
|
#endif // APM_OBC_H
|