Plane: updates for OBC API change

ArduPlane/ArduPlane.pde

@@ -106,13 +106,6 @@ AP_HAL::BetterStream* cliSerial;
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
 
-////////////////////////////////////////////////////////////////////////////////
-// Outback Challenge Failsafe Support
-////////////////////////////////////////////////////////////////////////////////
-#if OBC_FAILSAFE == ENABLED
-APM_OBC obc;
-#endif
-
 ////////////////////////////////////////////////////////////////////////////////
 // the rate we run the main loop at
 ////////////////////////////////////////////////////////////////////////////////
@@ -561,6 +554,13 @@ AP_Mission mission(ahrs,
                    &exit_mission_callback, 
                    MISSION_START_BYTE, MISSION_END_BYTE);
 
+////////////////////////////////////////////////////////////////////////////////
+// Outback Challenge Failsafe Support
+////////////////////////////////////////////////////////////////////////////////
+#if OBC_FAILSAFE == ENABLED
+APM_OBC obc(mission, barometer, gps);
+#endif
+
 ////////////////////////////////////////////////////////////////////////////////
 // Waypoint distances
 ////////////////////////////////////////////////////////////////////////////////
@@ -909,9 +909,7 @@ static void obc_fs_check(void)
 {
 #if OBC_FAILSAFE == ENABLED
     // perform OBC failsafe checks
-    obc.check(OBC_MODE(control_mode),
-              failsafe.last_heartbeat_ms,
-              gps, mission);
+    obc.check(OBC_MODE(control_mode), failsafe.last_heartbeat_ms);
 #endif
 }
 

ArduPlane/Attitude.pde

@@ -814,19 +814,6 @@ static void set_servos(void)
             channel_pitch->radio_out =     elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
         }
 
-#if OBC_FAILSAFE == ENABLED
-        // this is to allow the failsafe module to deliberately crash 
-        // the plane. Only used in extreme circumstances to meet the
-        // OBC rules
-        if (obc.crash_plane()) {
-            channel_roll->servo_out = -4500;
-            channel_pitch->servo_out = -4500;
-            channel_rudder->servo_out = -4500;
-            channel_throttle->servo_out = 0;
-        }
-#endif
-        
-
         // push out the PWM values
         if (g.mix_mode == 0) {
             channel_roll->calc_pwm();
@@ -916,6 +903,29 @@ static void set_servos(void)
         channel_rudder->radio_out   = channel_rudder->radio_in;
     }
 
+#if OBC_FAILSAFE == ENABLED
+        // this is to allow the failsafe module to deliberately crash 
+        // the plane. Only used in extreme circumstances to meet the
+        // OBC rules
+        if (obc.crash_plane()) {
+            channel_roll->servo_out = -4500;
+            channel_pitch->servo_out = -4500;
+            channel_rudder->servo_out = -4500;
+            channel_throttle->servo_out = 0;
+            channel_roll->calc_pwm();
+            channel_pitch->calc_pwm();
+            channel_rudder->calc_pwm();
+            channel_throttle->calc_pwm();
+            RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap_auto, 100);
+            RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap, 100);
+            RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, 4500);
+            RC_Channel_aux::set_servo_out(RC_Channel_aux::k_rudder, 4500);
+            RC_Channel_aux::set_servo_out(RC_Channel_aux::k_elevator, 4500);
+            RC_Channel_aux::set_servo_out(RC_Channel_aux::k_elevator_with_input, 4500);
+        }
+#endif
+        
+
     if (g.flaperon_output != MIXING_DISABLED && g.elevon_output == MIXING_DISABLED && g.mix_mode == 0) {
         flaperon_update(auto_flap_percent);
     }