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60 lines
2.0 KiB
60 lines
2.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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* failsafe support |
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* Andrew Tridgell, December 2011 |
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*/ |
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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 failsafe_check(uint32_t tnow) |
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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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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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// 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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g.channel_roll.radio_out = hal.rcin->read(CH_1); |
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g.channel_pitch.radio_out = hal.rcin->read(CH_2); |
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g.channel_throttle.radio_out = hal.rcin->read(CH_3); |
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g.channel_rudder.radio_out = hal.rcin->read(CH_4); |
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if (g.vtail_output != VTAIL_DISABLED) { |
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vtail_output_mixing(); |
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} |
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if (!demoing_servos) { |
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servo_write(CH_1, g.channel_roll.radio_out); |
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} |
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servo_write(CH_2, g.channel_pitch.radio_out); |
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servo_write(CH_3, g.channel_throttle.radio_out); |
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servo_write(CH_4, g.channel_rudder.radio_out); |
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RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual, true); |
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RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input, true); |
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RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_elevator_with_input, true); |
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} |
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}
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