ardupilot/APMrover2/failsafe.cpp

63 lines
1.7 KiB
C++

/*
failsafe support
Andrew Tridgell, December 2011
*/
#include "Rover.h"
/*
our failsafe strategy is to detect main loop lockup and switch to
passing inputs straight from the RC inputs to RC outputs.
*/
/*
this failsafe_check function is called from the core timer interrupt
at 1kHz.
*/
void Rover::failsafe_check()
{
static uint16_t last_mainLoop_count;
static uint32_t last_timestamp;
static bool in_failsafe;
uint32_t tnow = AP_HAL::micros();
if (mainLoop_count != last_mainLoop_count) {
// the main loop is running, all is OK
last_mainLoop_count = mainLoop_count;
last_timestamp = tnow;
in_failsafe = false;
return;
}
if (tnow - last_timestamp > 200000) {
// we have gone at least 0.2 seconds since the main loop
// ran. That means we're in trouble, or perhaps are in
// an initialisation routine or log erase. Start passing RC
// inputs through to outputs
in_failsafe = true;
}
if (in_failsafe && tnow - last_timestamp > 20000 &&
channel_throttle->read() >= (uint16_t)g.fs_throttle_value) {
// pass RC inputs to outputs every 20ms
last_timestamp = tnow;
hal.rcin->clear_overrides();
uint8_t start_ch = 0;
for (uint8_t ch=start_ch; ch < 4; ch++) {
hal.rcout->write(ch, hal.rcin->read(ch));
}
SRV_Channels::copy_radio_in_out(SRV_Channel::k_manual, true);
}
}
#if ADVANCED_FAILSAFE == ENABLED
/*
check for AFS failsafe check
*/
void Rover::afs_fs_check(void)
{
// perform AFS failsafe checks
g2.afs.check(rover.last_heartbeat_ms, false, failsafe.last_valid_rc_ms); // Rover don't have fence
}
#endif