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105 lines
2.6 KiB
105 lines
2.6 KiB
#ifndef APM_OBC_H |
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#define APM_OBC_H |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Outback Challenge Failsafe module |
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Andrew Tridgell and CanberraUAV, August 2012 |
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*/ |
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#include <AP_Common.h> |
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#include <AP_Param.h> |
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#include <inttypes.h> |
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class APM_OBC |
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{ |
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public: |
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enum control_mode { |
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OBC_MANUAL = 0, |
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OBC_FBW = 1, |
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OBC_AUTO = 2 |
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}; |
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enum state { |
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STATE_PREFLIGHT = 0, |
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STATE_AUTO = 1, |
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STATE_DATA_LINK_LOSS = 2, |
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STATE_GPS_LOSS = 3 |
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}; |
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// Constructor |
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APM_OBC(void) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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_last_heartbeat_pin = -1; |
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_last_manual_pin = -1; |
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_state = STATE_PREFLIGHT; |
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_terminate.set(0); |
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// get a pointer to COMMAND_INDEX so we can resume a |
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// auto mission when a failsafe condition is resolved |
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enum ap_var_type var_type; |
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_command_index = (AP_Int8 *)AP_Param::find("CMD_INDEX", &var_type); |
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_saved_wp = 0; |
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} |
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void check(enum control_mode control_mode, |
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uint32_t last_heartbeat_ms, |
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uint32_t last_gps_fix_ms); |
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// should we crash the plane? Only possible with |
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// FS_TERM_ACTTION set to 43 |
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bool crash_plane(void) { |
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return _terminate && _terminate_action == 42; |
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} |
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// for holding parameters |
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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enum state _state; |
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// digital output pins for communicating with the failsafe board |
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AP_Int8 _heartbeat_pin; |
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AP_Int8 _manual_pin; |
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AP_Int8 _terminate_pin; |
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AP_Int8 _terminate; |
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AP_Int8 _terminate_action; |
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// last pins to cope with changing at runtime |
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int8_t _last_heartbeat_pin; |
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int8_t _last_manual_pin; |
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int8_t _last_terminate_pin; |
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// waypoint numbers to jump to on failsafe conditions |
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AP_Int8 _wp_comms_hold; |
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AP_Int8 _wp_gps_loss; |
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bool _heartbeat_pin_value; |
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// pointer to command index parameter in g |
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AP_Int8 *_command_index; |
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// saved waypoint for resuming mission |
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uint8_t _saved_wp; |
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}; |
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// map from ArduPlane control_mode to APM_OBC::control_mode |
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#define OBC_MODE(control_mode) ((control_mode==AUTO?APM_OBC::OBC_AUTO:control_mode==MANUAL?APM_OBC::OBC_MANUAL:APM_OBC::OBC_FBW)) |
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#endif // APM_OBC_H
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