Copter: rename failsafe to failsafe_radio

Makes way for separation of failsafes for throttle, gps and gcs

ArduCopter/AP_State.pde

@@ -55,24 +55,24 @@ void set_simple_mode(bool b)
 }
 
 // ---------------------------------------------
-static void set_failsafe(bool mode)
+static void set_failsafe_radio(bool mode)
 {
     // only act on changes
     // -------------------
-    if(ap.failsafe != mode) {
+    if(ap.failsafe_radio != mode) {
 
         // store the value so we don't trip the gate twice
         // -----------------------------------------------
-        ap.failsafe = mode;
+        ap.failsafe_radio = mode;
 
-        if (ap.failsafe == false) {
+        if (ap.failsafe_radio == false) {
             // We've regained radio contact
             // ----------------------------
-            failsafe_off_event();
+            failsafe_radio_off_event();
         }else{
             // We've lost radio contact
             // ------------------------
-            failsafe_on_event();
+            failsafe_radio_on_event();
         }
     }
 }

ArduCopter/ArduCopter.pde

@@ -358,12 +358,14 @@ static union {
         uint8_t armed              : 1; // 6
         uint8_t auto_armed         : 1; // 7
 
-        uint8_t failsafe           : 1; // 8    // A status flag for the failsafe state
-        uint8_t do_flip            : 1; // 9    // Used to enable flip code
-        uint8_t takeoff_complete   : 1; // 10
-        uint8_t land_complete      : 1; // 11
-        uint8_t compass_status     : 1; // 12
-        uint8_t gps_status         : 1; // 13
+        uint8_t failsafe_radio     : 1; // 8    // A status flag for the radio failsafe
+        uint8_t failsafe_batt      : 1; // 9    // A status flag for the battery failsafe
+        uint8_t failsafe_gps       : 1; // 10   // A status flag for the gps failsafe
+        uint8_t do_flip            : 1; // 11   // Used to enable flip code
+        uint8_t takeoff_complete   : 1; // 12
+        uint8_t land_complete      : 1; // 13
+        uint8_t compass_status     : 1; // 14
+        uint8_t gps_status         : 1; // 15
     };
     uint16_t value;
 } ap;

ArduCopter/Attitude.pde

@@ -138,7 +138,7 @@ get_roll_rate_stabilized_ef(int32_t stick_angle)
         angle_error	= constrain(angle_error, -MAX_ROLL_OVERSHOOT, MAX_ROLL_OVERSHOOT);
     }
 
-    if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe)) {
+    if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe_radio)) {
         angle_error = 0;
     }
 
@@ -174,7 +174,7 @@ get_pitch_rate_stabilized_ef(int32_t stick_angle)
         angle_error	= constrain(angle_error, -MAX_PITCH_OVERSHOOT, MAX_PITCH_OVERSHOOT);
     }
 
-    if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe)) {
+    if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe_radio)) {
         angle_error = 0;
     }
 
@@ -205,7 +205,7 @@ get_yaw_rate_stabilized_ef(int32_t stick_angle)
     // limit the maximum overshoot
     angle_error	= constrain(angle_error, -MAX_YAW_OVERSHOOT, MAX_YAW_OVERSHOOT);
 
-    if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe)) {
+    if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe_radio)) {
     	angle_error = 0;
     }
 
@@ -883,7 +883,7 @@ static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
     int16_t desired_rate = 0;
 
     // throttle failsafe check
-    if( ap.failsafe ) {
+    if( ap.failsafe_radio ) {
         return 0;
     }
 
@@ -916,7 +916,7 @@ static int16_t get_pilot_desired_acceleration(int16_t throttle_control)
     int32_t desired_accel = 0;
 
     // throttle failsafe check
-    if( ap.failsafe ) {
+    if( ap.failsafe_radio ) {
         return 0;
     }
 
@@ -944,8 +944,8 @@ static int32_t get_pilot_desired_direct_alt(int16_t throttle_control)
 {
     int32_t desired_alt = 0;
 
-    // throttle failsafe check
-    if( ap.failsafe ) {
+    // radio failsafe check
+    if( ap.failsafe_radio ) {
         return 0;
     }
 
@@ -1104,7 +1104,7 @@ get_throttle_land()
                 land_detector++;
             }else{
                 set_land_complete(true);
-                if( g.rc_3.control_in == 0 || ap.failsafe ) {
+                if( g.rc_3.control_in == 0 || ap.failsafe_radio ) {
                     init_disarm_motors();
                 }
             }

ArduCopter/GCS_Mavlink.pde

@@ -68,7 +68,7 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
     uint8_t system_status = MAV_STATE_ACTIVE;
     uint32_t custom_mode = control_mode;
     
-    if (ap.failsafe == true)  {
+    if (ap.failsafe_radio == true)  {
         system_status = MAV_STATE_CRITICAL;
     }
     

ArduCopter/Log.pde

@@ -1208,8 +1208,14 @@ static void Log_Read_Error()
         case ERROR_SUBSYSTEM_OPTFLOW:
             cliSerial->print_P(PSTR("OF"));
             break;
-        case ERROR_SUBSYSTEM_FAILSAFE:
-            cliSerial->print_P(PSTR("FS"));
+        case ERROR_SUBSYSTEM_FAILSAFE_RADIO:
+            cliSerial->print_P(PSTR("FSRADIO"));
+            break;
+        case ERROR_SUBSYSTEM_FAILSAFE_BATT:
+            cliSerial->print_P(PSTR("FSBATT"));
+            break;
+        case ERROR_SUBSYSTEM_FAILSAFE_GPS:
+            cliSerial->print_P(PSTR("FSGPS"));
             break;
         default:
             // if undefined print subsytem as a number

ArduCopter/commands_logic.pde

@@ -556,7 +556,7 @@ static bool verify_RTL()
             // check if we've loitered long enough
             if( millis() - rtl_loiter_start_time > (uint32_t)g.rtl_loiter_time.get() ) {
                 // initiate landing or descent
-                if(g.rtl_alt_final == 0 || ap.failsafe) {
+                if(g.rtl_alt_final == 0 || ap.failsafe_radio) {
                     // land
                     do_land();
                     // override landing location (do_land defaults to current location)

ArduCopter/control_modes.pde

@@ -14,7 +14,7 @@ static void read_control_switch()
             switch_counter          = 0;
 
             // ignore flight mode changes if in failsafe
-            if( !ap.failsafe ) {
+            if( !ap.failsafe_radio ) {
                 set_mode(flight_modes[switchPosition]);
 
                 if(g.ch7_option != CH7_SIMPLE_MODE) {

ArduCopter/defines.h

@@ -442,16 +442,17 @@ enum gcs_severity {
 #define ERROR_SUBSYSTEM_RADIO               2
 #define ERROR_SUBSYSTEM_COMPASS             3
 #define ERROR_SUBSYSTEM_OPTFLOW             4
-#define ERROR_SUBSYSTEM_FAILSAFE            5
+#define ERROR_SUBSYSTEM_FAILSAFE_RADIO      5
+#define ERROR_SUBSYSTEM_FAILSAFE_BATT       6
+#define ERROR_SUBSYSTEM_FAILSAFE_GPS        7
 // general error codes
 #define ERROR_CODE_ERROR_RESOLVED           0
 #define ERROR_CODE_FAILED_TO_INITIALISE     1
 // subsystem specific error codes -- radio
 #define ERROR_CODE_RADIO_LATE_FRAME         2
-// subsystem specific error codes -- failsafe
-#define ERROR_CODE_FAILSAFE_THROTTLE  2
-#define ERROR_CODE_FAILSAFE_BATTERY   3
-#define ERROR_CODE_FAILSAFE_WATCHDOG  4
+// subsystem specific error codes -- failsafe_thr, batt, gps
+#define ERROR_CODE_FAILSAFE_RESOLVED        0
+#define ERROR_CODE_FAILSAFE_OCCURRED        1
 
 
 

ArduCopter/events.pde

@@ -4,7 +4,7 @@
  *       This event will be called when the failsafe changes
  *       boolean failsafe reflects the current state
  */
-static void failsafe_on_event()
+static void failsafe_radio_on_event()
 {
     // if motors are not armed there is nothing to do
     if( !motors.armed() ) {
@@ -48,18 +48,18 @@ static void failsafe_on_event()
     }
 
     // log the error to the dataflash
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_THROTTLE);
+    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_OCCURRED);
 
 }
 
 // failsafe_off_event - respond to radio contact being regained
 // we must be in AUTO, LAND or RTL modes
 // or Stabilize or ACRO mode but with motors disarmed
-static void failsafe_off_event()
+static void failsafe_radio_off_event()
 {
     // no need to do anything except log the error as resolved
     // user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_ERROR_RESOLVED);
+    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_RESOLVED);
 }
 
 static void low_battery_event(void)
@@ -95,7 +95,7 @@ static void low_battery_event(void)
 
     // warn the ground station and log to dataflash
     gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!"));
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_BATTERY);
+    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
 
 #if COPTER_LEDS == ENABLED
     if ( bitRead(g.copter_leds_mode, 3) ) {         // Only Activate if a battery is connected to avoid alarm on USB only

ArduCopter/radio.pde

@@ -123,7 +123,7 @@ void output_min()
     motors.output_min();
 }
 
-#define RADIO_FS_TIMEOUT_MS 2000       // 2 seconds
+#define FAILSAFE_RADIO_TIMEOUT_MS 2000       // 2 seconds
 static void read_radio()
 {
     static uint32_t last_update = 0;
@@ -150,10 +150,10 @@ static void read_radio()
     }else{
         uint32_t elapsed = millis() - last_update;
         // turn on throttle failsafe if no update from ppm encoder for 2 seconds
-        if ((elapsed >= RADIO_FS_TIMEOUT_MS)
-                && g.failsafe_throttle && motors.armed() && !ap.failsafe) {
+        if ((elapsed >= FAILSAFE_RADIO_TIMEOUT_MS)
+                && g.failsafe_throttle && motors.armed() && !ap.failsafe_radio) {
             Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
-            set_failsafe(true);
+            set_failsafe_radio(true);
         }
     }
 }
@@ -173,7 +173,7 @@ static void set_throttle_and_failsafe(uint16_t throttle_pwm)
     if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) {
 
         // if we are already in failsafe or motors not armed pass through throttle and exit
-        if (ap.failsafe || !motors.armed()) {
+        if (ap.failsafe_radio || !motors.armed()) {
             g.rc_3.set_pwm(throttle_pwm);
             return;
         }
@@ -183,7 +183,7 @@ static void set_throttle_and_failsafe(uint16_t throttle_pwm)
         failsafe_counter++;
         if( failsafe_counter >= FS_COUNTER ) {
             failsafe_counter = FS_COUNTER;  // check to ensure we don't overflow the counter
-            set_failsafe(true);
+            set_failsafe_radio(true);
             g.rc_3.set_pwm(throttle_pwm);   // pass through failsafe throttle
         }
     }else{
@@ -193,8 +193,8 @@ static void set_throttle_and_failsafe(uint16_t throttle_pwm)
             failsafe_counter = 0;   // check to ensure we don't underflow the counter
 
             // disengage failsafe after three (nearly) consecutive valid throttle values
-            if (ap.failsafe) {
-                set_failsafe(false);
+            if (ap.failsafe_radio) {
+                set_failsafe_radio(false);
             }
         }
         // pass through throttle

ArduCopter/system.pde

@@ -384,8 +384,8 @@ static void set_mode(uint8_t mode)
 
     // used to stop fly_aways
     // set to false if we have low throttle
-    motors.auto_armed(g.rc_3.control_in > 0 || ap.failsafe);
-    set_auto_armed(g.rc_3.control_in > 0 || ap.failsafe);
+    motors.auto_armed(g.rc_3.control_in > 0 || ap.failsafe_radio);
+    set_auto_armed(g.rc_3.control_in > 0 || ap.failsafe_radio);
 
     // if we change modes, we must clear landed flag
     set_land_complete(false);