mirror of https://github.com/ArduPilot/ardupilot
92 lines
4.4 KiB
C++
92 lines
4.4 KiB
C++
/*
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plane specific AP_AdvancedFailsafe class
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*/
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#include "Plane.h"
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// Constructor
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AP_AdvancedFailsafe_Plane::AP_AdvancedFailsafe_Plane(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap) :
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AP_AdvancedFailsafe(_mission, _baro, _gps, _rcmap)
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{}
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/*
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setup radio_out values for all channels to termination values
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*/
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void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
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{
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// we are terminating. Setup primary output channels radio_out values
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RC_Channel *ch_roll = RC_Channel::rc_channel(rcmap.roll()-1);
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RC_Channel *ch_pitch = RC_Channel::rc_channel(rcmap.pitch()-1);
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RC_Channel *ch_yaw = RC_Channel::rc_channel(rcmap.yaw()-1);
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RC_Channel *ch_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
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ch_roll->set_radio_out(ch_roll->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN));
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ch_pitch->set_radio_out(ch_pitch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX));
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ch_yaw->set_radio_out(ch_yaw->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX));
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ch_throttle->set_radio_out(ch_throttle->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN));
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RC_Channel_aux::disable_passthrough(true);
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plane.servos_output();
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// and all aux channels
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RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_flap_auto, RC_Channel::RC_CHANNEL_LIMIT_MAX);
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RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_flap, RC_Channel::RC_CHANNEL_LIMIT_MAX);
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RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_aileron, RC_Channel::RC_CHANNEL_LIMIT_MIN);
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RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_rudder, RC_Channel::RC_CHANNEL_LIMIT_MAX);
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RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_elevator, RC_Channel::RC_CHANNEL_LIMIT_MAX);
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RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_elevator_with_input, RC_Channel::RC_CHANNEL_LIMIT_MAX);
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RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_manual, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
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RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_none, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
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plane.quadplane.afs_terminate();
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// also disarm to ensure that ignition is cut
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plane.disarm_motors();
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}
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void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
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{
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const RC_Channel *ch_roll = RC_Channel::rc_channel(rcmap.roll()-1);
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const RC_Channel *ch_pitch = RC_Channel::rc_channel(rcmap.pitch()-1);
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const RC_Channel *ch_yaw = RC_Channel::rc_channel(rcmap.yaw()-1);
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const RC_Channel *ch_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
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// setup primary channel output values
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hal.rcout->set_failsafe_pwm(1U<<(rcmap.roll()-1), ch_roll->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN));
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hal.rcout->set_failsafe_pwm(1U<<(rcmap.pitch()-1), ch_pitch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX));
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hal.rcout->set_failsafe_pwm(1U<<(rcmap.yaw()-1), ch_yaw->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX));
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hal.rcout->set_failsafe_pwm(1U<<(rcmap.throttle()-1), ch_throttle->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN));
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// and all aux channels
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RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_flap_auto, RC_Channel::RC_CHANNEL_LIMIT_MAX);
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RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_flap, RC_Channel::RC_CHANNEL_LIMIT_MAX);
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RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_aileron, RC_Channel::RC_CHANNEL_LIMIT_MIN);
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RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_rudder, RC_Channel::RC_CHANNEL_LIMIT_MAX);
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RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_elevator, RC_Channel::RC_CHANNEL_LIMIT_MAX);
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RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_elevator_with_input, RC_Channel::RC_CHANNEL_LIMIT_MAX);
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RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_manual, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
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RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_none, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
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if (plane.quadplane.available()) {
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// setup AP_Motors outputs for failsafe
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uint16_t mask = plane.quadplane.motors->get_motor_mask();
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hal.rcout->set_failsafe_pwm(mask, plane.quadplane.thr_min_pwm);
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}
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}
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/*
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return an AFS_MODE for current control mode
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*/
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AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Plane::afs_mode(void)
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{
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if (plane.auto_throttle_mode) {
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return AP_AdvancedFailsafe::AFS_AUTO;
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}
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if (plane.control_mode == MANUAL) {
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return AP_AdvancedFailsafe::AFS_MANUAL;
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}
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return AP_AdvancedFailsafe::AFS_STABILIZED;
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}
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