@ -265,26 +265,24 @@ private:
@@ -265,26 +265,24 @@ private:
// Failsafe
struct {
uint8_t pilot_input : 1 ; // true if pilot input failsafe is active, handles things like joystick being disconnected during operation
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 leak : 1 ; // true if leak recently detected
uint8_t internal_pressure : 1 ; // true if internal pressure is over threshold
uint8_t internal_temperature : 1 ; // true if temperature is over threshold
uint8_t crash : 1 ; // true if we are crashed
uint8_t sensor_health : 1 ; // true if at least one sensor has triggered a failsafe (currently only used for depth in depth enabled modes)
uint32_t last_leak_warn_ms ; // last time a leak warning was sent to gcs
uint32_t last_gcs_warn_ms ;
uint32_t last_heartbeat_ms ; // the time when the last HEARTBEAT message arrived from a GCS - used for triggering gcs failsafe
uint32_t last_pilot_input_ms ; // last time we received pilot input in the form of MANUAL_CONTROL or RC_CHANNELS_OVERRIDE messages
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
uint32_t last_battery_warn_ms ; // last time a battery failsafe warning was sent to gcs
uint32_t last_crash_warn_ms ; // last time a crash warning was sent to gcs
uint32_t last_ekf_warn_ms ; // last time an ekf warning was sent to gcs
uint8_t pilot_input : 1 ; // true if pilot input failsafe is active, handles things like joystick being disconnected during operation
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 leak : 1 ; // true if leak recently detected
uint8_t internal_pressure : 1 ; // true if internal pressure is over threshold
uint8_t internal_temperature : 1 ; // true if temperature is over threshold
uint8_t crash : 1 ; // true if we are crashed
uint8_t sensor_health : 1 ; // true if at least one sensor has triggered a failsafe (currently only used for depth in depth enabled modes)
} failsafe ;
// sensor health for logging
@ -327,7 +325,9 @@ private:
@@ -327,7 +325,9 @@ private:
uint32_t nav_delay_time_start ;
// Battery Sensors
AP_BattMonitor battery { MASK_LOG_CURRENT } ;
AP_BattMonitor battery { MASK_LOG_CURRENT ,
FUNCTOR_BIND_MEMBER ( & Sub : : handle_battery_failsafe , void , const char * , const int8_t ) ,
_failsafe_priorities } ;
AP_Arming_Sub arming { ahrs , compass , battery } ;
@ -581,7 +581,7 @@ private:
@@ -581,7 +581,7 @@ private:
void failsafe_sensors_check ( void ) ;
void failsafe_crash_check ( ) ;
void failsafe_ekf_check ( void ) ;
void failsafe_battery_check ( void ) ;
void handle_battery_failsafe ( const char * type_str , const int8_t action ) ;
void failsafe_gcs_check ( ) ;
void failsafe_pilot_input_check ( void ) ;
void set_neutral_controls ( void ) ;
@ -628,7 +628,6 @@ private:
@@ -628,7 +628,6 @@ private:
void init_optflow ( ) ;
void update_optical_flow ( void ) ;
# endif
void read_battery ( void ) ;
void terrain_update ( ) ;
void terrain_logging ( ) ;
bool terrain_use ( ) ;
@ -706,6 +705,25 @@ private:
@@ -706,6 +705,25 @@ private:
void convert_old_parameters ( void ) ;
enum Failsafe_Action {
Failsafe_Action_None = 0 ,
Failsafe_Action_Warn = 1 ,
Failsafe_Action_Disarm = 2 ,
Failsafe_Action_Surface = 3
} ;
static constexpr int8_t _failsafe_priorities [ ] = {
Failsafe_Action_Disarm ,
Failsafe_Action_Surface ,
Failsafe_Action_Warn ,
Failsafe_Action_None ,
- 1 // the priority list must end with a sentinel of -1
} ;
static_assert ( _failsafe_priorities [ ARRAY_SIZE ( _failsafe_priorities ) - 1 ] = = - 1 ,
" _failsafe_priorities is missing the sentinel " ) ;
public :
void mavlink_delay_cb ( ) ;
void mainloop_failsafe_check ( ) ;
Michael du Breuil
7 years ago
committed by
Francisco Ferreira