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Correct a bug in throttle failsafe feature

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This commit is contained in:
Doug Weibel 2011-12-24 15:34:31 -07:00
parent a5df59eba3
commit 8e17b8d6d4
3 changed files with 14 additions and 10 deletions
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6
ArduPlane/control_modes.pde
View File

@ -2,7 +2,12 @@
static void read_control_switch()
{
byte switchPosition = readSwitch();
// If switchPosition = 255 this indicates that the mode control channel input was out of range
// If we get this value we do not want to change modes.
if(switchPosition == 255) return;
// we look for changes in the switch position. If the
// RST_SWITCH_CH parameter is set, then it is a switch that can be
@ -33,6 +38,7 @@ static void read_control_switch()
static byte readSwitch(void){
uint16_t pulsewidth = APM_RC.InputCh(g.flight_mode_channel - 1);
if (pulsewidth <= 910 || pulsewidth >= 2090) return 255; // This is an error condition
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;

7
ArduPlane/events.pde
View File

@ -1,10 +1,10 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
static void failsafe_short_on_event()
static void failsafe_short_on_event(int fstype)
{
// This is how to handle a short loss of control signal failsafe.
failsafe = FAILSAFE_SHORT;
failsafe = fstype;
ch3_failsafe_timer = millis();
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event on, "));
switch(control_mode)
@ -32,11 +32,12 @@ static void failsafe_short_on_event()
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
}
static void failsafe_long_on_event()
static void failsafe_long_on_event(int fstype)
{
// This is how to handle a long loss of control signal failsafe.
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Long event on, "));
APM_RC.clearOverride(); // If the GCS is locked up we allow control to revert to RC
failsafe = fstype;
switch(control_mode)
{
case MANUAL:

11
ArduPlane/system.pde
View File

@ -430,16 +430,13 @@ static void check_long_failsafe()
// -------------------
if(failsafe != FAILSAFE_LONG && failsafe != FAILSAFE_GCS){
if(rc_override_active && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
failsafe = FAILSAFE_LONG;
failsafe_long_on_event();
failsafe_long_on_event(FAILSAFE_LONG);
}
if(! rc_override_active && failsafe == FAILSAFE_SHORT && millis() - ch3_failsafe_timer > FAILSAFE_LONG_TIME) {
failsafe = FAILSAFE_LONG;
failsafe_long_on_event();
failsafe_long_on_event(FAILSAFE_LONG);
}
if(g.gcs_heartbeat_fs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
failsafe = FAILSAFE_GCS;
failsafe_long_on_event();
failsafe_long_on_event(FAILSAFE_GCS);
}
} else {
// We do not change state but allow for user to change mode
@ -455,7 +452,7 @@ static void check_short_failsafe()
// -------------------
if(failsafe == FAILSAFE_NONE){
if(ch3_failsafe) { // The condition is checked and the flag ch3_failsafe is set in radio.pde
failsafe_short_on_event();
failsafe_short_on_event(FAILSAFE_SHORT);
}
}