ardupilot/ArduCopter/crash_check.pde

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