mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
9700e65d19
When enabled, it ensures vehicle enters AUTO even if it is currently in other autonomous modes (for example Guided)
114 lines
4.6 KiB
C++
114 lines
4.6 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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#if AP_ADVANCEDFAILSAFE_ENABLED
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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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#if HAL_QUADPLANE_ENABLED
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if (plane.quadplane.available() && _terminate_action == TERMINATE_ACTION_LAND) {
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// perform a VTOL landing
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plane.set_mode(plane.mode_qland, ModeReason::FENCE_BREACHED);
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return;
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}
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#endif
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plane.g2.servo_channels.disable_passthrough(true);
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if (_terminate_action == TERMINATE_ACTION_LAND) {
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plane.landing.terminate();
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} else {
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// remove flap slew limiting
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SRV_Channels::set_slew_rate(SRV_Channel::k_flap_auto, 0.0, 100, plane.G_Dt);
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SRV_Channels::set_slew_rate(SRV_Channel::k_flap, 0.0, 100, plane.G_Dt);
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// aerodynamic termination is the default approach to termination
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SRV_Channels::set_output_scaled(SRV_Channel::k_flap_auto, 100.0);
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SRV_Channels::set_output_scaled(SRV_Channel::k_flap, 100.0);
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SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, SERVO_MAX);
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SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, SERVO_MAX);
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SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, SERVO_MAX);
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if (plane.have_reverse_thrust()) {
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// configured for reverse thrust, use TRIM
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SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
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SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::TRIM);
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SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::TRIM);
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} else {
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// use MIN
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SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::MIN);
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SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::MIN);
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SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::MIN);
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}
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SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::Limit::TRIM);
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SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::Limit::TRIM);
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}
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plane.servos_output();
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#if HAL_QUADPLANE_ENABLED
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plane.quadplane.afs_terminate();
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#endif
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// also disarm to ensure that ignition is cut
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plane.arming.disarm(AP_Arming::Method::AFS);
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}
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void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
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{
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// all aux channels
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_flap_auto, SRV_Channel::Limit::MAX);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_flap, SRV_Channel::Limit::MAX);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_aileron, SRV_Channel::Limit::MIN);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::Limit::MAX);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::Limit::MAX);
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if (plane.have_reverse_thrust()) {
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// configured for reverse thrust, use TRIM
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::TRIM);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::TRIM);
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} else {
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// normal throttle, use MIN
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::MIN);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::MIN);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::MIN);
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}
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_manual, SRV_Channel::Limit::TRIM);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_none, SRV_Channel::Limit::TRIM);
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#if HAL_QUADPLANE_ENABLED
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if (plane.quadplane.available()) {
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// setup AP_Motors outputs for failsafe
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uint32_t mask = plane.quadplane.motors->get_motor_mask();
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hal.rcout->set_failsafe_pwm(mask, plane.quadplane.motors->get_pwm_output_min());
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}
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#endif
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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.control_mode->does_auto_throttle()) {
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return AP_AdvancedFailsafe::AFS_AUTO;
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}
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if (plane.control_mode == &plane.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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//to force entering auto mode when datalink loss
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void AP_AdvancedFailsafe_Plane::set_mode_auto(void)
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{
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plane.set_mode(plane.mode_auto,ModeReason::GCS_FAILSAFE);
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}
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#endif // AP_ADVANCEDFAILSAFE_ENABLED
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