mirror of https://github.com/ArduPilot/ardupilot
90 lines
2.3 KiB
C++
90 lines
2.3 KiB
C++
#include "Copter.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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// our failsafe strategy is to detect main loop lockup and disarm the motors
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//
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static bool failsafe_enabled = false;
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static uint16_t failsafe_last_ticks;
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static uint32_t failsafe_last_timestamp;
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static bool in_failsafe;
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//
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// failsafe_enable - enable failsafe
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//
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void Copter::failsafe_enable()
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{
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failsafe_enabled = true;
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failsafe_last_timestamp = micros();
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}
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//
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// failsafe_disable - used when we know we are going to delay the mainloop significantly
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//
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void Copter::failsafe_disable()
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{
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failsafe_enabled = false;
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}
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//
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// failsafe_check - this function is called from the core timer interrupt at 1kHz.
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//
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void Copter::failsafe_check()
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{
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uint32_t tnow = AP_HAL::micros();
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const uint16_t ticks = scheduler.ticks();
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if (ticks != failsafe_last_ticks) {
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// the main loop is running, all is OK
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failsafe_last_ticks = ticks;
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failsafe_last_timestamp = tnow;
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if (in_failsafe) {
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in_failsafe = false;
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Log_Write_Error(ERROR_SUBSYSTEM_CPU,ERROR_CODE_FAILSAFE_RESOLVED);
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}
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return;
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}
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if (!in_failsafe && failsafe_enabled && tnow - failsafe_last_timestamp > 2000000) {
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// motors are running but we have gone 2 second since the
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// main loop ran. That means we're in trouble and should
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// disarm the motors->
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in_failsafe = true;
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// reduce motors to minimum (we do not immediately disarm because we want to log the failure)
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if (motors->armed()) {
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motors->output_min();
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}
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// log an error
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Log_Write_Error(ERROR_SUBSYSTEM_CPU,ERROR_CODE_FAILSAFE_OCCURRED);
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}
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if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) {
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// disarm motors every second
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failsafe_last_timestamp = tnow;
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if(motors->armed()) {
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motors->armed(false);
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motors->output();
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}
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}
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}
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#if ADVANCED_FAILSAFE == ENABLED
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/*
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check for AFS failsafe check
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*/
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void Copter::afs_fs_check(void)
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{
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// perform AFS failsafe checks
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#if AC_FENCE
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const bool fence_breached = fence.get_breaches() != 0;
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#else
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const bool fence_breached = false;
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#endif
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g2.afs.check(failsafe.last_heartbeat_ms, fence_breached, last_radio_update_ms);
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}
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#endif
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