You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
113 lines
3.0 KiB
113 lines
3.0 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
#ifndef APM_OBC_H |
|
#define APM_OBC_H |
|
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
/* |
|
Outback Challenge Failsafe module |
|
|
|
Andrew Tridgell and CanberraUAV, August 2012 |
|
*/ |
|
|
|
#include <AP_Common.h> |
|
#include <AP_Param.h> |
|
#include <AP_Mission.h> |
|
#include <AP_Baro.h> |
|
#include <AP_GPS.h> |
|
#include <AP_RCMapper.h> |
|
#include <inttypes.h> |
|
|
|
|
|
class APM_OBC |
|
{ |
|
public: |
|
enum control_mode { |
|
OBC_MANUAL = 0, |
|
OBC_FBW = 1, |
|
OBC_AUTO = 2 |
|
}; |
|
|
|
enum state { |
|
STATE_PREFLIGHT = 0, |
|
STATE_AUTO = 1, |
|
STATE_DATA_LINK_LOSS = 2, |
|
STATE_GPS_LOSS = 3 |
|
}; |
|
|
|
// Constructor |
|
APM_OBC(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap) : |
|
mission(_mission), |
|
baro(_baro), |
|
gps(_gps), |
|
rcmap(_rcmap) |
|
{ |
|
AP_Param::setup_object_defaults(this, var_info); |
|
|
|
_state = STATE_PREFLIGHT; |
|
_terminate.set(0); |
|
|
|
_saved_wp = 0; |
|
} |
|
|
|
void check(enum control_mode control_mode, uint32_t last_heartbeat_ms); |
|
|
|
// called in servo output code to set servos to crash position if needed |
|
void check_crash_plane(void); |
|
|
|
// for holding parameters |
|
static const struct AP_Param::GroupInfo var_info[]; |
|
|
|
private: |
|
enum state _state; |
|
|
|
AP_Mission &mission; |
|
AP_Baro &baro; |
|
const AP_GPS &gps; |
|
const RCMapper &rcmap; |
|
|
|
// digital output pins for communicating with the failsafe board |
|
AP_Int8 _heartbeat_pin; |
|
AP_Int8 _manual_pin; |
|
AP_Int8 _terminate_pin; |
|
AP_Int8 _terminate; |
|
AP_Int8 _terminate_action; |
|
|
|
// waypoint numbers to jump to on failsafe conditions |
|
AP_Int8 _wp_comms_hold; |
|
AP_Int8 _wp_gps_loss; |
|
|
|
AP_Float _qnh_pressure; |
|
AP_Int32 _amsl_limit; |
|
AP_Int32 _amsl_margin_gps; |
|
|
|
bool _heartbeat_pin_value; |
|
|
|
// saved waypoint for resuming mission |
|
uint8_t _saved_wp; |
|
|
|
// have the failsafe values been setup? |
|
bool _failsafe_setup:1; |
|
|
|
// setup failsafe values for if FMU firmware stops running |
|
void setup_failsafe(void); |
|
|
|
bool check_altlimit(void); |
|
}; |
|
|
|
// map from ArduPlane control_mode to APM_OBC::control_mode |
|
#define OBC_MODE(control_mode) ((control_mode==AUTO?APM_OBC::OBC_AUTO:control_mode==MANUAL?APM_OBC::OBC_MANUAL:APM_OBC::OBC_FBW)) |
|
|
|
#endif // APM_OBC_H
|
|
|