mirror of https://github.com/ArduPilot/ardupilot
131 lines
3.4 KiB
C++
131 lines
3.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#include "Plane.h"
|
|
|
|
void Plane::failsafe_short_on_event(enum failsafe_state fstype)
|
|
{
|
|
// This is how to handle a short loss of control signal failsafe.
|
|
failsafe.state = fstype;
|
|
failsafe.ch3_timer_ms = millis();
|
|
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Failsafe - Short event on, "));
|
|
switch(control_mode)
|
|
{
|
|
case MANUAL:
|
|
case STABILIZE:
|
|
case ACRO:
|
|
case FLY_BY_WIRE_A:
|
|
case AUTOTUNE:
|
|
case FLY_BY_WIRE_B:
|
|
case CRUISE:
|
|
case TRAINING:
|
|
failsafe.saved_mode = control_mode;
|
|
failsafe.saved_mode_set = 1;
|
|
if(g.short_fs_action == 2) {
|
|
set_mode(FLY_BY_WIRE_A);
|
|
} else {
|
|
set_mode(CIRCLE);
|
|
}
|
|
break;
|
|
|
|
case AUTO:
|
|
case GUIDED:
|
|
case LOITER:
|
|
if(g.short_fs_action != 0) {
|
|
failsafe.saved_mode = control_mode;
|
|
failsafe.saved_mode_set = 1;
|
|
if(g.short_fs_action == 2) {
|
|
set_mode(FLY_BY_WIRE_A);
|
|
} else {
|
|
set_mode(CIRCLE);
|
|
}
|
|
}
|
|
break;
|
|
|
|
case CIRCLE:
|
|
case RTL:
|
|
default:
|
|
break;
|
|
}
|
|
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
|
|
}
|
|
|
|
void Plane::failsafe_long_on_event(enum failsafe_state fstype)
|
|
{
|
|
// This is how to handle a long loss of control signal failsafe.
|
|
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Failsafe - Long event on, "));
|
|
// If the GCS is locked up we allow control to revert to RC
|
|
hal.rcin->clear_overrides();
|
|
failsafe.state = fstype;
|
|
switch(control_mode)
|
|
{
|
|
case MANUAL:
|
|
case STABILIZE:
|
|
case ACRO:
|
|
case FLY_BY_WIRE_A:
|
|
case AUTOTUNE:
|
|
case FLY_BY_WIRE_B:
|
|
case CRUISE:
|
|
case TRAINING:
|
|
case CIRCLE:
|
|
if(g.long_fs_action == 2) {
|
|
set_mode(FLY_BY_WIRE_A);
|
|
} else {
|
|
set_mode(RTL);
|
|
}
|
|
break;
|
|
|
|
case AUTO:
|
|
case GUIDED:
|
|
case LOITER:
|
|
if(g.long_fs_action == 2) {
|
|
set_mode(FLY_BY_WIRE_A);
|
|
} else if (g.long_fs_action == 1) {
|
|
set_mode(RTL);
|
|
}
|
|
break;
|
|
|
|
case RTL:
|
|
default:
|
|
break;
|
|
}
|
|
if (fstype == FAILSAFE_GCS) {
|
|
gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("No GCS heartbeat."));
|
|
}
|
|
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
|
|
}
|
|
|
|
void Plane::failsafe_short_off_event()
|
|
{
|
|
// We're back in radio contact
|
|
gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Failsafe - Short event off"));
|
|
failsafe.state = FAILSAFE_NONE;
|
|
|
|
// re-read the switch so we can return to our preferred mode
|
|
// --------------------------------------------------------
|
|
if (control_mode == CIRCLE && failsafe.saved_mode_set) {
|
|
failsafe.saved_mode_set = 0;
|
|
set_mode(failsafe.saved_mode);
|
|
}
|
|
}
|
|
|
|
void Plane::low_battery_event(void)
|
|
{
|
|
if (failsafe.low_battery) {
|
|
return;
|
|
}
|
|
gcs_send_text_fmt(PSTR("Low Battery %.2fV Used %.0f mAh"),
|
|
(double)battery.voltage(), (double)battery.current_total_mah());
|
|
if (flight_stage != AP_SpdHgtControl::FLIGHT_LAND_FINAL &&
|
|
flight_stage != AP_SpdHgtControl::FLIGHT_LAND_APPROACH) {
|
|
set_mode(RTL);
|
|
aparm.throttle_cruise.load();
|
|
}
|
|
failsafe.low_battery = true;
|
|
AP_Notify::flags.failsafe_battery = true;
|
|
}
|
|
|
|
void Plane::update_events(void)
|
|
{
|
|
ServoRelayEvents.update_events();
|
|
}
|