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111 lines
3.7 KiB
111 lines
3.7 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "Plane.h" |
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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 Plane::failsafe_check(void) |
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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 = 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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last_timestamp = tnow; |
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#if OBC_FAILSAFE == ENABLED |
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if (in_calibration) { |
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// tell the failsafe system that we are calibrating |
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// sensors, so don't trigger failsafe |
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obc.heartbeat(); |
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} |
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#endif |
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if (hal.rcin->num_channels() < 5) { |
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// we don't have any RC input to pass through |
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return; |
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} |
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// pass RC inputs to outputs every 20ms |
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hal.rcin->clear_overrides(); |
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channel_roll->radio_out = channel_roll->read(); |
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channel_pitch->radio_out = channel_pitch->read(); |
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if (hal.util->get_soft_armed()) { |
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channel_throttle->radio_out = channel_throttle->read(); |
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} |
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channel_rudder->radio_out = channel_rudder->read(); |
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int16_t roll = channel_roll->pwm_to_angle_dz(0); |
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int16_t pitch = channel_pitch->pwm_to_angle_dz(0); |
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int16_t rudder = channel_rudder->pwm_to_angle_dz(0); |
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// setup secondary output channels that don't have |
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// corresponding input channels |
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RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, roll); |
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RC_Channel_aux::set_servo_out(RC_Channel_aux::k_elevator, pitch); |
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RC_Channel_aux::set_servo_out(RC_Channel_aux::k_rudder, rudder); |
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RC_Channel_aux::set_servo_out(RC_Channel_aux::k_steering, rudder); |
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if (g.vtail_output != MIXING_DISABLED) { |
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channel_output_mixer(g.vtail_output, channel_pitch->radio_out, channel_rudder->radio_out); |
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} else if (g.elevon_output != MIXING_DISABLED) { |
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channel_output_mixer(g.elevon_output, channel_pitch->radio_out, channel_roll->radio_out); |
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} |
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#if OBC_FAILSAFE == ENABLED |
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// this is to allow the failsafe module to deliberately crash |
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// the plane. Only used in extreme circumstances to meet the |
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// OBC rules |
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obc.check_crash_plane(); |
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#endif |
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if (!demoing_servos) { |
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channel_roll->output(); |
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channel_pitch->output(); |
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} |
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channel_throttle->output(); |
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if (g.rudder_only == 0) { |
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channel_rudder->output(); |
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} |
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// setup secondary output channels that do have |
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// corresponding input channels |
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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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RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap, 0); |
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RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap_auto, 0); |
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// setup flaperons |
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flaperon_update(0); |
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} |
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}
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