Sub: failsafe.manual_control -> failsafe.pilot_input

reset pilot input failsafe timer when RC_CHANNELS_OVERRIDE is received

ArduSub/ArduSub.cpp

@@ -210,7 +210,7 @@ void Sub::fast_loop()
 void Sub::fifty_hz_loop()
 {
     // check pilot input failsafe
-    failsafe_manual_control_check();
+    failsafe_pilot_input_check();
 
     failsafe_crash_check();
 

ArduSub/Attitude.cpp

@@ -97,7 +97,7 @@ float Sub::get_look_ahead_yaw()
 float Sub::get_pilot_desired_climb_rate(float throttle_control)
 {
     // throttle failsafe check
-    if (failsafe.manual_control) {
+    if (failsafe.pilot_input) {
         return 0.0f;
     }
 

ArduSub/GCS_Mavlink.cpp

@@ -34,7 +34,7 @@ NOINLINE void Sub::send_heartbeat(mavlink_channel_t chan)
     uint32_t custom_mode = control_mode;
 
     // set system as critical if any failsafe have triggered
-    if (failsafe.manual_control || failsafe.battery || failsafe.gcs || failsafe.ekf || failsafe.terrain)  {
+    if (failsafe.pilot_input || failsafe.battery || failsafe.gcs || failsafe.ekf || failsafe.terrain)  {
         system_status = MAV_STATE_CRITICAL;
     }
 
@@ -1023,7 +1023,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
 
         sub.transform_manual_control_to_rc_override(packet.x,packet.y,packet.z,packet.r,packet.buttons);
 
-        sub.failsafe.last_manual_control_ms = AP_HAL::millis();
+        sub.failsafe.last_pilot_input_ms = AP_HAL::millis();
         // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
         sub.failsafe.last_heartbeat_ms = AP_HAL::millis();
         break;
@@ -1047,9 +1047,9 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
         v[6] = packet.chan7_raw;
         v[7] = packet.chan8_raw;
 
-        // record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
+        hal.rcin->set_overrides(v, 8);
-        sub.failsafe.rc_override_active = hal.rcin->set_overrides(v, 8);
 
+        sub.failsafe.last_pilot_input_ms = AP_HAL::millis();
         // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
         sub.failsafe.last_heartbeat_ms = AP_HAL::millis();
         break;

ArduSub/Sub.cpp

@@ -92,7 +92,7 @@ Sub::Sub(void) :
     failsafe.last_heartbeat_ms = 0;
 
 #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
-    failsafe.manual_control = true;
+    failsafe.pilot_input = true;
 #endif
 }
 

ArduSub/Sub.h

@@ -259,8 +259,7 @@ private:
 
     // Failsafe
     struct {
-        uint8_t rc_override_active   : 1; // 0   // true if rc control are overwritten by ground station
+        uint8_t pilot_input          : 1; // true if pilot input failsafe is active, handles things like joystick being disconnected during operation
-        uint8_t manual_control       : 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
@@ -273,7 +272,7 @@ private:
         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_manual_control_ms; // last time MANUAL_CONTROL message arrived from GCS
+        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
@@ -595,7 +594,7 @@ private:
     void failsafe_ekf_check(void);
     void failsafe_battery_check(void);
     void failsafe_gcs_check();
-    void failsafe_manual_control_check(void);
+    void failsafe_pilot_input_check(void);
     void set_neutral_controls(void);
     void failsafe_terrain_check();
     void failsafe_terrain_set_status(bool data_ok);

ArduSub/control_auto.cpp

@@ -125,7 +125,7 @@ void Sub::auto_wp_run()
 
     // process pilot's yaw input
     float target_yaw_rate = 0;
-    if (!failsafe.manual_control) {
+    if (!failsafe.pilot_input) {
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
         if (!is_zero(target_yaw_rate)) {
@@ -211,7 +211,7 @@ void Sub::auto_spline_run()
 
     // process pilot's yaw input
     float target_yaw_rate = 0;
-    if (!failsafe.manual_control) {
+    if (!failsafe.pilot_input) {
         // get pilot's desired yaw rat
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
         if (!is_zero(target_yaw_rate)) {
@@ -398,7 +398,7 @@ void Sub::auto_loiter_run()
 
     // accept pilot input of yaw
     float target_yaw_rate = 0;
-    if (!failsafe.manual_control) {
+    if (!failsafe.pilot_input) {
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
     }
 

ArduSub/control_guided.cpp

@@ -288,7 +288,7 @@ void Sub::guided_pos_control_run()
 
     // process pilot's yaw input
     float target_yaw_rate = 0;
-    if (!failsafe.manual_control) {
+    if (!failsafe.pilot_input) {
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
         if (!is_zero(target_yaw_rate)) {
@@ -339,7 +339,7 @@ void Sub::guided_vel_control_run()
 
     // process pilot's yaw input
     float target_yaw_rate = 0;
-    if (!failsafe.manual_control) {
+    if (!failsafe.pilot_input) {
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
         if (!is_zero(target_yaw_rate)) {
@@ -395,7 +395,7 @@ void Sub::guided_posvel_control_run()
     // process pilot's yaw input
     float target_yaw_rate = 0;
 
-    if (!failsafe.manual_control) {
+    if (!failsafe.pilot_input) {
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
         if (!is_zero(target_yaw_rate)) {

ArduSub/failsafe.cpp

@@ -164,17 +164,16 @@ void Sub::failsafe_battery_check(void)
     }
 }
 
-// MANUAL_CONTROL failsafe check
+// Make sure that we are receiving pilot input at an appropriate interval
-// Make sure that we are receiving MANUAL_CONTROL at an appropriate interval
+void Sub::failsafe_pilot_input_check()
-void Sub::failsafe_manual_control_check()
 {
 #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     uint32_t tnow = AP_HAL::millis();
 
     // Require at least 0.5 Hz update
-    if (tnow > failsafe.last_manual_control_ms + 2000) {
+    if (tnow > failsafe.last_pilot_input_ms + 2000) {
-        if (!failsafe.manual_control) {
+        if (!failsafe.pilot_input) {
-            failsafe.manual_control = true;
+            failsafe.pilot_input = true;
             set_neutral_controls();
             init_disarm_motors();
             Log_Write_Error(ERROR_SUBSYSTEM_INPUT, ERROR_CODE_FAILSAFE_OCCURRED);
@@ -183,7 +182,7 @@ void Sub::failsafe_manual_control_check()
         return;
     }
 
-    failsafe.manual_control = false;
+    failsafe.pilot_input = false;
 #endif
 }
 

ArduSub/joystick.cpp

@@ -117,8 +117,7 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
     y_last = y;
     z_last = z;
 
-    // record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
+    hal.rcin->set_overrides(channels, 10);
-    failsafe.rc_override_active = hal.rcin->set_overrides(channels, 10);
 }
 
 void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
@@ -570,5 +569,5 @@ void Sub::set_neutral_controls()
 
     channels[4] = 0xffff; // Leave mode switch where it was
 
-    failsafe.rc_override_active = hal.rcin->set_overrides(channels, 10);
+    hal.rcin->set_overrides(channels, 10);
 }