mirror of https://github.com/ArduPilot/ardupilot
116 lines
3.4 KiB
C++
116 lines
3.4 KiB
C++
#include "Plane.h"
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/*
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* failsafe support
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* Andrew Tridgell, December 2011
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*/
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/*
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* our failsafe strategy is to detect main loop lockup and switch to
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* passing inputs straight from the RC inputs to RC outputs.
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*/
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/*
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* this failsafe_check function is called from the core timer interrupt
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* at 1kHz.
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*/
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void Plane::failsafe_check(void)
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{
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static uint16_t last_ticks;
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static uint32_t last_timestamp;
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static bool in_failsafe;
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uint32_t tnow = micros();
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const uint16_t ticks = scheduler.ticks();
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if (ticks != last_ticks) {
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// the main loop is running, all is OK
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last_ticks = ticks;
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last_timestamp = tnow;
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in_failsafe = false;
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return;
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}
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if (tnow - last_timestamp > 200000) {
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// we have gone at least 0.2 seconds since the main loop
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// ran. That means we're in trouble, or perhaps are in
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// an initialisation routine or log erase. Start passing RC
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// inputs through to outputs
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in_failsafe = true;
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}
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if (in_failsafe && tnow - last_timestamp > 20000) {
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// ensure we have the latest RC inputs
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rc().read_input();
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last_timestamp = tnow;
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rc().read_input();
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#if ADVANCED_FAILSAFE == ENABLED
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if (in_calibration) {
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// tell the failsafe system that we are calibrating
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// sensors, so don't trigger failsafe
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afs.heartbeat();
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}
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#endif
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if (RC_Channels::get_valid_channel_count() < 5) {
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// we don't have any RC input to pass through
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return;
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}
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// pass RC inputs to outputs every 20ms
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RC_Channels::clear_overrides();
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float roll = roll_in_expo(false);
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float pitch = pitch_in_expo(false);
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float throttle = get_throttle_input(true);
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float rudder = rudder_in_expo(false);
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if (!hal.util->get_soft_armed()) {
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throttle = 0;
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}
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// setup secondary output channels that don't have
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// corresponding input channels
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SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, roll);
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SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, pitch);
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SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, rudder);
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SRV_Channels::set_output_scaled(SRV_Channel::k_steering, rudder);
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
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// this is to allow the failsafe module to deliberately crash
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// the plane. Only used in extreme circumstances to meet the
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// OBC rules
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#if ADVANCED_FAILSAFE == ENABLED
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if (afs.should_crash_vehicle()) {
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afs.terminate_vehicle();
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if (!afs.terminating_vehicle_via_landing()) {
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return;
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}
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}
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#endif
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// setup secondary output channels that do have
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// corresponding input channels
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SRV_Channels::copy_radio_in_out(SRV_Channel::k_manual, true);
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SRV_Channels::set_output_scaled(SRV_Channel::k_flap, 0.0);
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SRV_Channels::set_output_scaled(SRV_Channel::k_flap_auto, 0.0);
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// setup flaperons
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flaperon_update(0);
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servos_output();
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// in SITL we send through the servo outputs so we can verify
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// we're manipulating surfaces
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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GCS_MAVLINK *chan = gcs().chan(0);
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if (HAVE_PAYLOAD_SPACE(chan->get_chan(), SERVO_OUTPUT_RAW)) {
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chan->send_servo_output_raw();
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}
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#endif
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}
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}
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