ardupilot/ArduCopter/fence.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// Code to integrate AC_Fence library with main ArduCopter code
#if AC_FENCE == ENABLED
uint8_t lim_state = 0, lim_old_state = 0;
// fence_check - ask fence library to check for breaches and initiate the response
// called at 1hz
void fence_check()
{
uint8_t new_breaches; // the type of fence that has been breached
uint8_t orig_breaches = fence.get_breaches();
// return immediately if motors are not armed
if(!motors.armed()) {
return;
}
// give fence library our current distance from home in meters
fence.set_home_distance(home_distance*0.01f);
// check for a breach
new_breaches = fence.check_fence();
// if there is a new breach take action
if( new_breaches != AC_FENCE_TYPE_NONE ) {
// if the user wants some kind of response and motors are armed
if(fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY ) {
// disarm immediately if we think we are on the ground
// don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
if(control_mode <= ACRO && g.rc_3.control_in == 0 && !ap.failsafe_radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0)){
init_disarm_motors();
}else{
// if we have a GPS
if( ap.home_is_set ) {
// if we are within 100m of the fence, RTL
if( fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
if(control_mode != RTL) {
set_mode(RTL);
}
}else{
// if more than 100m outside the fence just force a land
if(control_mode != RTL) {
set_mode(LAND);
}
}
}else{
// we have no GPS so LAND
if(control_mode != LAND) {
set_mode(LAND);
}
}
}
}
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, new_breaches);
}
// record clearing of breach
if(orig_breaches != AC_FENCE_TYPE_NONE && fence.get_breaches() == AC_FENCE_TYPE_NONE) {
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED);
}
}
// fence_send_mavlink_status - send fence status to ground station
static void fence_send_mavlink_status(mavlink_channel_t chan)
{
if (fence.enabled()) {
// traslate fence library breach types to mavlink breach types
uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
uint8_t breaches = fence.get_breaches();
if ((breaches & AC_FENCE_TYPE_ALT_MAX) != 0) {
mavlink_breach_type = FENCE_BREACH_MAXALT;
}
if ((breaches & AC_FENCE_TYPE_CIRCLE) != 0) {
mavlink_breach_type = FENCE_BREACH_BOUNDARY;
}
// send status
mavlink_msg_fence_status_send(chan,
(int8_t)(fence.get_breaches()!=0),
fence.get_breach_count(),
mavlink_breach_type,
fence.get_breach_time());
}
}
#endif