@ -373,19 +373,18 @@ private:
@@ -373,19 +373,18 @@ private:
// Failsafe
struct {
uint8_t rc_override_active : 1 ; // 0 // true if rc control are overwritten by ground station
uint8_t radio : 1 ; // 1 // A status flag for the radio failsafe
uint8_t battery : 1 ; // 2 // A status flag for the battery failsafe
uint8_t gcs : 1 ; // 4 // A status flag for the ground station failsafe
uint8_t ekf : 1 ; // 5 // true if ekf failsafe has occurred
uint8_t terrain : 1 ; // 6 // true if the missing terrain data failsafe has occurred
uint8_t adsb : 1 ; // 7 // true if an adsb related failsafe has occurred
int8_t radio_counter ; // number of iterations with throttle below throttle_fs_value
uint32_t last_heartbeat_ms ; // the time when the last HEARTBEAT message arrived from a GCS - used for triggering gcs failsafe
uint32_t terrain_first_failure_ms ; // the first time terrain data access failed - used to calculate the duration of the failure
uint32_t terrain_last_failure_ms ; // the most recent time terrain data access failed
int8_t radio_counter ; // number of iterations with throttle below throttle_fs_value
uint8_t rc_override_active : 1 ; // true if rc control are overwritten by ground station
uint8_t radio : 1 ; // A status flag for the radio failsafe
uint8_t gcs : 1 ; // A status flag for the ground station failsafe
uint8_t ekf : 1 ; // true if ekf failsafe has occurred
uint8_t terrain : 1 ; // true if the missing terrain data failsafe has occurred
uint8_t adsb : 1 ; // true if an adsb related failsafe has occurred
} failsafe ;
// sensor health for logging
@ -425,7 +424,9 @@ private:
@@ -425,7 +424,9 @@ private:
int32_t initial_armed_bearing ;
// Battery Sensors
AP_BattMonitor battery { MASK_LOG_CURRENT } ;
AP_BattMonitor battery { MASK_LOG_CURRENT ,
FUNCTOR_BIND_MEMBER ( & Copter : : handle_battery_failsafe , void , const char * , const int8_t ) ,
_failsafe_priorities } ;
# if FRSKY_TELEM_ENABLED == ENABLED
// FrSky telemetry support
@ -628,11 +629,37 @@ private:
@@ -628,11 +629,37 @@ private:
static const AP_Param : : Info var_info [ ] ;
static const struct LogStructure log_structure [ ] ;
enum Failsafe_Action {
Failsafe_Action_None = 0 ,
Failsafe_Action_Land = 1 ,
Failsafe_Action_RTL = 2 ,
Failsafe_Action_SmartRTL = 3 ,
Failsafe_Action_SmartRTL_Land = 4 ,
Failsafe_Action_Terminate = 5
} ;
static constexpr int8_t _failsafe_priorities [ ] = {
Failsafe_Action_Terminate ,
Failsafe_Action_Land ,
Failsafe_Action_RTL ,
Failsafe_Action_SmartRTL_Land ,
Failsafe_Action_SmartRTL ,
Failsafe_Action_None ,
- 1 // the priority list must end with a sentinel of -1
} ;
# define FAILSAFE_LAND_PRIORITY 1
static_assert ( _failsafe_priorities [ FAILSAFE_LAND_PRIORITY ] = = Failsafe_Action_Land ,
" FAILSAFE_LAND_PRIORITY must match the entry in _failsafe_priorities " ) ;
static_assert ( _failsafe_priorities [ ARRAY_SIZE ( _failsafe_priorities ) - 1 ] = = - 1 ,
" _failsafe_priorities is missing the sentinel " ) ;
// AP_State.cpp
void set_auto_armed ( bool b ) ;
void set_simple_mode ( uint8_t b ) ;
void set_failsafe_radio ( bool b ) ;
void set_failsafe_battery ( bool b ) ;
void set_failsafe_gcs ( bool b ) ;
void update_using_interlock ( ) ;
void set_motor_emergency_stop ( bool b ) ;
@ -718,7 +745,7 @@ private:
@@ -718,7 +745,7 @@ private:
// events.cpp
void failsafe_radio_on_event ( ) ;
void failsafe_radio_off_event ( ) ;
void failsafe_battery_event ( void ) ;
void handle_battery_failsafe ( const char * type_str , const int8_t action ) ;
void failsafe_gcs_check ( ) ;
void failsafe_gcs_off_event ( void ) ;
void failsafe_terrain_check ( ) ;
@ -880,7 +907,6 @@ private:
@@ -880,7 +907,6 @@ private:
void compass_accumulate ( void ) ;
void init_optflow ( ) ;
void update_optical_flow ( void ) ;
void read_battery ( void ) ;
void read_receiver_rssi ( void ) ;
void compass_cal_update ( void ) ;
void accel_cal_update ( void ) ;
Michael du Breuil
7 years ago
committed by
Francisco Ferreira