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52 lines
1.5 KiB
52 lines
1.5 KiB
/* |
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failsafe support |
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Andrew Tridgell, December 2011 |
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*/ |
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#include "Rover.h" |
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/* |
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our failsafe strategy is to detect main loop lockup and switch to |
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passing inputs straight from the RC inputs to RC outputs. |
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*/ |
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/* |
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this failsafe_check function is called from the core timer interrupt |
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at 1kHz. |
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*/ |
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void Rover::failsafe_check() |
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{ |
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static uint16_t last_mainLoop_count; |
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static uint32_t last_timestamp; |
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static bool in_failsafe; |
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uint32_t tnow = AP_HAL::micros(); |
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if (mainLoop_count != last_mainLoop_count) { |
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// the main loop is running, all is OK |
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last_mainLoop_count = mainLoop_count; |
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last_timestamp = tnow; |
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in_failsafe = false; |
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return; |
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} |
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if (tnow - last_timestamp > 200000) { |
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// we have gone at least 0.2 seconds since the main loop |
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// ran. That means we're in trouble, or perhaps are in |
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// an initialisation routine or log erase. Start passing RC |
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// inputs through to outputs |
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in_failsafe = true; |
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} |
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if (in_failsafe && tnow - last_timestamp > 20000 && |
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channel_throttle->read() >= (uint16_t)g.fs_throttle_value) { |
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// pass RC inputs to outputs every 20ms |
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last_timestamp = tnow; |
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hal.rcin->clear_overrides(); |
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uint8_t start_ch = 0; |
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for (uint8_t ch=start_ch; ch<4; ch++) { |
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hal.rcout->write(ch, hal.rcin->read(ch)); |
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} |
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RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual, true); |
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} |
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} |
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