mirror of https://github.com/ArduPilot/ardupilot
101 lines
3.4 KiB
C++
101 lines
3.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#include "Plane.h"
|
|
|
|
/*
|
|
* failsafe support
|
|
* Andrew Tridgell, December 2011
|
|
*/
|
|
|
|
/*
|
|
* 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 Plane::failsafe_check(void)
|
|
{
|
|
static uint16_t last_mainLoop_count;
|
|
static uint32_t last_timestamp;
|
|
static bool in_failsafe;
|
|
uint32_t tnow = micros();
|
|
|
|
if (perf.mainLoop_count != last_mainLoop_count) {
|
|
// the main loop is running, all is OK
|
|
last_mainLoop_count = perf.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) {
|
|
last_timestamp = tnow;
|
|
|
|
if (in_calibration) {
|
|
// tell the failsafe system that we are calibrating
|
|
// sensors, so don't trigger failsafe
|
|
afs.heartbeat();
|
|
}
|
|
|
|
if (hal.rcin->num_channels() < 5) {
|
|
// we don't have any RC input to pass through
|
|
return;
|
|
}
|
|
|
|
// pass RC inputs to outputs every 20ms
|
|
hal.rcin->clear_overrides();
|
|
channel_roll->set_radio_out(channel_roll->read());
|
|
channel_pitch->set_radio_out(channel_pitch->read());
|
|
if (hal.util->get_soft_armed()) {
|
|
channel_throttle->set_radio_out(channel_throttle->read());
|
|
} else {
|
|
channel_throttle->set_servo_out(0);
|
|
channel_throttle->calc_pwm();
|
|
}
|
|
channel_rudder->set_radio_out(channel_rudder->read());
|
|
|
|
int16_t roll = channel_roll->pwm_to_angle_dz(0);
|
|
int16_t pitch = channel_pitch->pwm_to_angle_dz(0);
|
|
int16_t rudder = channel_rudder->pwm_to_angle_dz(0);
|
|
|
|
// setup secondary output channels that don't have
|
|
// corresponding input channels
|
|
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron, roll);
|
|
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator, pitch);
|
|
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_rudder, rudder);
|
|
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_steering, rudder);
|
|
|
|
// this is to allow the failsafe module to deliberately crash
|
|
// the plane. Only used in extreme circumstances to meet the
|
|
// OBC rules
|
|
if (afs.should_crash_vehicle()) {
|
|
afs.terminate_vehicle();
|
|
return;
|
|
}
|
|
|
|
// setup secondary output channels that do have
|
|
// corresponding input channels
|
|
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual, true);
|
|
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input, true);
|
|
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_elevator_with_input, true);
|
|
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_flap, 0);
|
|
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_flap_auto, 0);
|
|
|
|
servos_output();
|
|
|
|
// setup flaperons
|
|
flaperon_update(0);
|
|
}
|
|
}
|