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Heartbeat failsafe added for APO.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1940 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2011-05-01 03:38:41 +00:00
parent 7b7ba0df1f
commit 9b25875baf
5 changed files with 11 additions and 10 deletions
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14
libraries/APO/AP_Guide.h
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@ -200,13 +200,13 @@ public:
//airSpeedCommand = 0; //airSpeedCommand = 0;
//groundSpeedCommand = 0; //groundSpeedCommand = 0;
headingCommand -= 45*deg2Rad; headingCommand -= 45*deg2Rad;
_hal->debug->print("Obstacle Distance (m): "); // _hal->debug->print("Obstacle Distance (m): ");
_hal->debug->println(frontDistance); // _hal->debug->println(frontDistance);
_hal->debug->print("Obstacle avoidance Heading Command: "); // _hal->debug->print("Obstacle avoidance Heading Command: ");
_hal->debug->println(headingCommand); // _hal->debug->println(headingCommand);
_hal->debug->printf_P( // _hal->debug->printf_P(
PSTR("Front Distance, %f\n"), // PSTR("Front Distance, %f\n"),
frontDistance); // frontDistance);
} }
if (_rangeFinderBack && _rangeFinderBack->distance < 5) { if (_rangeFinderBack && _rangeFinderBack->distance < 5) {
airSpeedCommand = 0; airSpeedCommand = 0;

2
libraries/APO/AP_HardwareAbstractionLayer.h
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@ -47,7 +47,7 @@ public:
AP_HardwareAbstractionLayer(halMode_t mode, board_t board, vehicle_t vehicle) : AP_HardwareAbstractionLayer(halMode_t mode, board_t board, vehicle_t vehicle) :
_mode(mode), _board(board), _vehicle(vehicle), adc(), _mode(mode), _board(board), _vehicle(vehicle), adc(),
gps(), baro(), compass(), rangeFinders(), gps(), baro(), compass(), rangeFinders(),
imu(), rc(), gcs(), hil(), debug(), load() imu(), rc(), gcs(), hil(), debug(), load(), lastHeartBeat()
{ {
} }
/** /**

1
libraries/APO/controllers.h
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@ -131,6 +131,7 @@ public:
_hal->rc[CH_RIGHT]->setPosition(0); _hal->rc[CH_RIGHT]->setPosition(0);
_hal->rc[CH_FRONT]->setPosition(0); _hal->rc[CH_FRONT]->setPosition(0);
_hal->rc[CH_BACK]->setPosition(0); _hal->rc[CH_BACK]->setPosition(0);
return;
} }
// read and set pwm so they can be read as positions later // read and set pwm so they can be read as positions later

2
libraries/APO/examples/AutopilotCar/AutopilotCar.pde
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@ -60,7 +60,7 @@ const float loop4Rate = 0.1;
// max time in seconds to allow flight without ground station comms // max time in seconds to allow flight without ground station comms
// zero will ignore timeout // zero will ignore timeout
const uint8_t heartbeatTimeout = 3.0; const uint8_t heartbeatTimeout = 3;
//---------HARDWARE CONFIG ----------------// //---------HARDWARE CONFIG ----------------//

2
libraries/APO/examples/AutopilotQuad/AutopilotQuad.pde
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@ -60,7 +60,7 @@ const float loop4Rate = 0.1;
// max time in seconds to allow flight without ground station comms // max time in seconds to allow flight without ground station comms
// zero will ignore timeout // zero will ignore timeout
const uint8_t heartbeatTimeout = 3.0; const uint8_t heartbeatTimeout = 3;
//---------HARDWARE CONFIG ----------------// //---------HARDWARE CONFIG ----------------//