mirror of https://github.com/ArduPilot/ardupilot
62 lines
2.4 KiB
Plaintext
62 lines
2.4 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// Code to detect a crash main ArduCopter code
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#ifndef CRASH_CHECK_ITERATIONS_MAX
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# define CRASH_CHECK_ITERATIONS_MAX 20 // 2 second (ie. 10 iterations at 10hz) inverted indicates a crash
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#endif
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#ifndef CRASH_CHECK_ANGLE_DEVIATION_CD
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# define CRASH_CHECK_ANGLE_DEVIATION_CD 2000 // 20 degrees beyond angle max is signal we are inverted
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#endif
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#ifndef CRASH_CHECK_ALT_CHANGE_LIMIT_CM
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# define CRASH_CHECK_ALT_CHANGE_LIMIT_CM 50 // baro altitude must not change by more than 50cm
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#endif
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// crash_check - disarms motors if a crash has been detected
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// crashes are detected by the vehicle being more than 20 degrees beyond it's angle limits continuously for more than 1 second
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// should be called at 10hz
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void crash_check()
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{
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static uint8_t inverted_count; // number of iterations we have been inverted
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static int32_t baro_alt_prev;
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// return immediately if motors are not armed or pilot's throttle is above zero
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if (!motors.armed() || (g.rc_3.control_in != 0 && !failsafe.radio)) {
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inverted_count = 0;
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return;
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}
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// return immediately if we are not in an angle stabilize flight mode or we are flipping
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if (control_mode == ACRO || control_mode == FLIP) {
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inverted_count = 0;
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return;
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}
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// check angles
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int32_t lean_max = aparm.angle_max + CRASH_CHECK_ANGLE_DEVIATION_CD;
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if (labs(ahrs.roll_sensor) > lean_max || labs(ahrs.pitch_sensor) > lean_max) {
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inverted_count++;
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// if we have just become inverted record the baro altitude
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if (inverted_count == 1) {
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baro_alt_prev = baro_alt;
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// exit if baro altitude change indicates we are moving (probably falling)
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}else if (labs(baro_alt - baro_alt_prev) > CRASH_CHECK_ALT_CHANGE_LIMIT_CM) {
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inverted_count = 0;
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return;
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// check if inverted for 2 seconds
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}else if (inverted_count >= CRASH_CHECK_ITERATIONS_MAX) {
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// log an error in the dataflash
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Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
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// send message to gcs
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gcs_send_text_P(SEVERITY_HIGH,PSTR("Crash: Disarming"));
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// disarm motors
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init_disarm_motors();
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}
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}else{
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// we are not inverted so reset counter
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inverted_count = 0;
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}
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}
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