mirror of https://github.com/ArduPilot/ardupilot
109 lines
3.7 KiB
Plaintext
109 lines
3.7 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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 failsafe_check(void)
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{
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static uint16_t last_mainLoop_count;
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static uint32_t last_timestamp;
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static bool in_failsafe;
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uint32_t tnow = hal.scheduler->micros();
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if (mainLoop_count != last_mainLoop_count) {
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// the main loop is running, all is OK
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last_mainLoop_count = mainLoop_count;
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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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last_timestamp = tnow;
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#if OBC_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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obc.heartbeat();
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}
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#endif
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if (hal.rcin->num_channels() == 0) {
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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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hal.rcin->clear_overrides();
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channel_roll->radio_out = channel_roll->read();
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channel_pitch->radio_out = channel_pitch->read();
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if (hal.util->get_soft_armed()) {
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channel_throttle->radio_out = channel_throttle->read();
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}
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channel_rudder->radio_out = channel_rudder->read();
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int16_t roll = channel_roll->pwm_to_angle_dz(0);
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int16_t pitch = channel_pitch->pwm_to_angle_dz(0);
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int16_t rudder = channel_rudder->pwm_to_angle_dz(0);
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// setup secondary output channels that don't have
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// corresponding input channels
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RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, roll);
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RC_Channel_aux::set_servo_out(RC_Channel_aux::k_elevator, pitch);
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RC_Channel_aux::set_servo_out(RC_Channel_aux::k_rudder, rudder);
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RC_Channel_aux::set_servo_out(RC_Channel_aux::k_steering, rudder);
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if (g.vtail_output != MIXING_DISABLED) {
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channel_output_mixer(g.vtail_output, channel_pitch->radio_out, channel_rudder->radio_out);
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} else if (g.elevon_output != MIXING_DISABLED) {
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channel_output_mixer(g.elevon_output, channel_pitch->radio_out, channel_roll->radio_out);
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}
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#if OBC_FAILSAFE == ENABLED
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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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obc.check_crash_plane();
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#endif
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if (!demoing_servos) {
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channel_roll->output();
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channel_pitch->output();
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}
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channel_throttle->output();
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if (g.rudder_only == 0) {
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channel_rudder->output();
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}
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// setup secondary output channels that do have
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// corresponding input channels
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RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual, true);
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RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input, true);
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RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_elevator_with_input, true);
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RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap, 0);
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RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap_auto, 0);
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// setup flaperons
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flaperon_update(0);
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}
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}
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