zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Copter: rename failsafe to failsafe_radio 

Makes way for separation of failsafes for throttle, gps and gcs
master
Randy Mackay 12 years ago
parent
f263e81ed7
commit
f9539384a1
11 changed files with 54 additions and 45 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 12
      ArduCopter/AP_State.pde
  2. 14
      ArduCopter/ArduCopter.pde
  3. 16
      ArduCopter/Attitude.pde
  4. 2
      ArduCopter/GCS_Mavlink.pde
  5. 10
      ArduCopter/Log.pde
  6. 2
      ArduCopter/commands_logic.pde
  7. 2
      ArduCopter/control_modes.pde
  8. 11
      ArduCopter/defines.h
  9. 10
      ArduCopter/events.pde
  10. 16
      ArduCopter/radio.pde
  11. 4
      ArduCopter/system.pde

12
ArduCopter/AP_State.pde
Unescape View File

@ -55,24 +55,24 @@ void set_simple_mode(bool b)
} }
// --------------------------------------------- // ---------------------------------------------
static void set_failsafe(bool mode) static void set_failsafe_radio(bool mode)
{ {
// only act on changes // only act on changes
// ------------------- // -------------------
if(ap.failsafe != mode) { if(ap.failsafe_radio != mode) {
// store the value so we don't trip the gate twice // store the value so we don't trip the gate twice
// ----------------------------------------------- // -----------------------------------------------
ap.failsafe = mode; ap.failsafe_radio = mode;
if (ap.failsafe == false) { if (ap.failsafe_radio == false) {
// We've regained radio contact // We've regained radio contact
// ---------------------------- // ----------------------------
failsafe_off_event(); failsafe_radio_off_event();
}else{ }else{
// We've lost radio contact // We've lost radio contact
// ------------------------ // ------------------------
failsafe_on_event(); failsafe_radio_on_event();
} }
} }
} }

14
ArduCopter/ArduCopter.pde
Unescape View File

@ -358,12 +358,14 @@ static union {
uint8_t armed : 1; // 6 uint8_t armed : 1; // 6
uint8_t auto_armed : 1; // 7 uint8_t auto_armed : 1; // 7
uint8_t failsafe : 1; // 8 // A status flag for the failsafe state uint8_t failsafe_radio : 1; // 8 // A status flag for the radio failsafe
uint8_t do_flip : 1; // 9 // Used to enable flip code uint8_t failsafe_batt : 1; // 9 // A status flag for the battery failsafe
uint8_t takeoff_complete : 1; // 10 uint8_t failsafe_gps : 1; // 10 // A status flag for the gps failsafe
uint8_t land_complete : 1; // 11 uint8_t do_flip : 1; // 11 // Used to enable flip code
uint8_t compass_status : 1; // 12 uint8_t takeoff_complete : 1; // 12
uint8_t gps_status : 1; // 13 uint8_t land_complete : 1; // 13
uint8_t compass_status : 1; // 14
uint8_t gps_status : 1; // 15
}; };
uint16_t value; uint16_t value;
} ap; } ap;

16
ArduCopter/Attitude.pde
Unescape View File

@ -138,7 +138,7 @@ get_roll_rate_stabilized_ef(int32_t stick_angle)
angle_error = constrain(angle_error, -MAX_ROLL_OVERSHOOT, MAX_ROLL_OVERSHOOT); angle_error = constrain(angle_error, -MAX_ROLL_OVERSHOOT, MAX_ROLL_OVERSHOOT);
} }
if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe)) { if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe_radio)) {
angle_error = 0; angle_error = 0;
} }
@ -174,7 +174,7 @@ get_pitch_rate_stabilized_ef(int32_t stick_angle)
angle_error = constrain(angle_error, -MAX_PITCH_OVERSHOOT, MAX_PITCH_OVERSHOOT); angle_error = constrain(angle_error, -MAX_PITCH_OVERSHOOT, MAX_PITCH_OVERSHOOT);
} }
if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe)) { if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe_radio)) {
angle_error = 0; angle_error = 0;
} }
@ -205,7 +205,7 @@ get_yaw_rate_stabilized_ef(int32_t stick_angle)
// limit the maximum overshoot // limit the maximum overshoot
angle_error = constrain(angle_error, -MAX_YAW_OVERSHOOT, MAX_YAW_OVERSHOOT); angle_error = constrain(angle_error, -MAX_YAW_OVERSHOOT, MAX_YAW_OVERSHOOT);
if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe)) { if (motors.armed() == false || ((g.rc_3.control_in == 0) && !ap.failsafe_radio)) {
angle_error = 0; angle_error = 0;
} }
@ -883,7 +883,7 @@ static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
int16_t desired_rate = 0; int16_t desired_rate = 0;
// throttle failsafe check // throttle failsafe check
if( ap.failsafe ) { if( ap.failsafe_radio ) {
return 0; return 0;
} }
@ -916,7 +916,7 @@ static int16_t get_pilot_desired_acceleration(int16_t throttle_control)
int32_t desired_accel = 0; int32_t desired_accel = 0;
// throttle failsafe check // throttle failsafe check
if( ap.failsafe ) { if( ap.failsafe_radio ) {
return 0; return 0;
} }
@ -944,8 +944,8 @@ static int32_t get_pilot_desired_direct_alt(int16_t throttle_control)
{ {
int32_t desired_alt = 0; int32_t desired_alt = 0;
// throttle failsafe check // radio failsafe check
if( ap.failsafe ) { if( ap.failsafe_radio ) {
return 0; return 0;
} }
@ -1104,7 +1104,7 @@ get_throttle_land()
land_detector++; land_detector++;
}else{ }else{
set_land_complete(true); set_land_complete(true);
if( g.rc_3.control_in == 0 || ap.failsafe ) { if( g.rc_3.control_in == 0 || ap.failsafe_radio ) {
init_disarm_motors(); init_disarm_motors();
} }
} }

2
ArduCopter/GCS_Mavlink.pde
Unescape View File

@ -68,7 +68,7 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
uint8_t system_status = MAV_STATE_ACTIVE; uint8_t system_status = MAV_STATE_ACTIVE;
uint32_t custom_mode = control_mode; uint32_t custom_mode = control_mode;
if (ap.failsafe == true) { if (ap.failsafe_radio == true) {
system_status = MAV_STATE_CRITICAL; system_status = MAV_STATE_CRITICAL;
} }

10
ArduCopter/Log.pde
Unescape View File

@ -1208,8 +1208,14 @@ static void Log_Read_Error()
case ERROR_SUBSYSTEM_OPTFLOW: case ERROR_SUBSYSTEM_OPTFLOW:
cliSerial->print_P(PSTR("OF")); cliSerial->print_P(PSTR("OF"));
break; break;
case ERROR_SUBSYSTEM_FAILSAFE: case ERROR_SUBSYSTEM_FAILSAFE_RADIO:
cliSerial->print_P(PSTR("FS")); cliSerial->print_P(PSTR("FSRADIO"));
break;
case ERROR_SUBSYSTEM_FAILSAFE_BATT:
cliSerial->print_P(PSTR("FSBATT"));
break;
case ERROR_SUBSYSTEM_FAILSAFE_GPS:
cliSerial->print_P(PSTR("FSGPS"));
break; break;
default: default:
// if undefined print subsytem as a number // if undefined print subsytem as a number

2
ArduCopter/commands_logic.pde
Unescape View File

@ -556,7 +556,7 @@ static bool verify_RTL()
// check if we've loitered long enough // check if we've loitered long enough
if( millis() - rtl_loiter_start_time > (uint32_t)g.rtl_loiter_time.get() ) { if( millis() - rtl_loiter_start_time > (uint32_t)g.rtl_loiter_time.get() ) {
// initiate landing or descent // initiate landing or descent
if(g.rtl_alt_final == 0 || ap.failsafe) { if(g.rtl_alt_final == 0 || ap.failsafe_radio) {
// land // land
do_land(); do_land();
// override landing location (do_land defaults to current location) // override landing location (do_land defaults to current location)

2
ArduCopter/control_modes.pde
Unescape View File

@ -14,7 +14,7 @@ static void read_control_switch()
switch_counter = 0; switch_counter = 0;
// ignore flight mode changes if in failsafe // ignore flight mode changes if in failsafe
if( !ap.failsafe ) { if( !ap.failsafe_radio ) {
set_mode(flight_modes[switchPosition]); set_mode(flight_modes[switchPosition]);
if(g.ch7_option != CH7_SIMPLE_MODE) { if(g.ch7_option != CH7_SIMPLE_MODE) {

11
ArduCopter/defines.h
Unescape View File

@ -442,16 +442,17 @@ enum gcs_severity {
#define ERROR_SUBSYSTEM_RADIO 2 #define ERROR_SUBSYSTEM_RADIO 2
#define ERROR_SUBSYSTEM_COMPASS 3 #define ERROR_SUBSYSTEM_COMPASS 3
#define ERROR_SUBSYSTEM_OPTFLOW 4 #define ERROR_SUBSYSTEM_OPTFLOW 4
#define ERROR_SUBSYSTEM_FAILSAFE 5 #define ERROR_SUBSYSTEM_FAILSAFE_RADIO 5
#define ERROR_SUBSYSTEM_FAILSAFE_BATT 6
#define ERROR_SUBSYSTEM_FAILSAFE_GPS 7
// general error codes // general error codes
#define ERROR_CODE_ERROR_RESOLVED 0 #define ERROR_CODE_ERROR_RESOLVED 0
#define ERROR_CODE_FAILED_TO_INITIALISE 1 #define ERROR_CODE_FAILED_TO_INITIALISE 1
// subsystem specific error codes -- radio // subsystem specific error codes -- radio
#define ERROR_CODE_RADIO_LATE_FRAME 2 #define ERROR_CODE_RADIO_LATE_FRAME 2
// subsystem specific error codes -- failsafe // subsystem specific error codes -- failsafe_thr, batt, gps
#define ERROR_CODE_FAILSAFE_THROTTLE 2 #define ERROR_CODE_FAILSAFE_RESOLVED 0
#define ERROR_CODE_FAILSAFE_BATTERY 3 #define ERROR_CODE_FAILSAFE_OCCURRED 1
#define ERROR_CODE_FAILSAFE_WATCHDOG 4

10
ArduCopter/events.pde
Unescape View File

@ -4,7 +4,7 @@
* This event will be called when the failsafe changes * This event will be called when the failsafe changes
* boolean failsafe reflects the current state * boolean failsafe reflects the current state
*/ */
static void failsafe_on_event() static void failsafe_radio_on_event()
{ {
// if motors are not armed there is nothing to do // if motors are not armed there is nothing to do
if( !motors.armed() ) { if( !motors.armed() ) {
@ -48,18 +48,18 @@ static void failsafe_on_event()
} }
// log the error to the dataflash // log the error to the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_THROTTLE); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_OCCURRED);
} }
// failsafe_off_event - respond to radio contact being regained // failsafe_off_event - respond to radio contact being regained
// we must be in AUTO, LAND or RTL modes // we must be in AUTO, LAND or RTL modes
// or Stabilize or ACRO mode but with motors disarmed // or Stabilize or ACRO mode but with motors disarmed
static void failsafe_off_event() static void failsafe_radio_off_event()
{ {
// no need to do anything except log the error as resolved // no need to do anything except log the error as resolved
// user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode // user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_ERROR_RESOLVED); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_RESOLVED);
} }
static void low_battery_event(void) static void low_battery_event(void)
@ -95,7 +95,7 @@ static void low_battery_event(void)
// warn the ground station and log to dataflash // warn the ground station and log to dataflash
gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!")); gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!"));
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_BATTERY); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
#if COPTER_LEDS == ENABLED #if COPTER_LEDS == ENABLED
if ( bitRead(g.copter_leds_mode, 3) ) { // Only Activate if a battery is connected to avoid alarm on USB only if ( bitRead(g.copter_leds_mode, 3) ) { // Only Activate if a battery is connected to avoid alarm on USB only

16
ArduCopter/radio.pde
Unescape View File

@ -123,7 +123,7 @@ void output_min()
motors.output_min(); motors.output_min();
} }
#define RADIO_FS_TIMEOUT_MS 2000 // 2 seconds #define FAILSAFE_RADIO_TIMEOUT_MS 2000 // 2 seconds
static void read_radio() static void read_radio()
{ {
static uint32_t last_update = 0; static uint32_t last_update = 0;
@ -150,10 +150,10 @@ static void read_radio()
}else{ }else{
uint32_t elapsed = millis() - last_update; uint32_t elapsed = millis() - last_update;
// turn on throttle failsafe if no update from ppm encoder for 2 seconds // turn on throttle failsafe if no update from ppm encoder for 2 seconds
if ((elapsed >= RADIO_FS_TIMEOUT_MS) if ((elapsed >= FAILSAFE_RADIO_TIMEOUT_MS)
&& g.failsafe_throttle && motors.armed() && !ap.failsafe) { && g.failsafe_throttle && motors.armed() && !ap.failsafe_radio) {
Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME); Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
set_failsafe(true); set_failsafe_radio(true);
} }
} }
} }
@ -173,7 +173,7 @@ static void set_throttle_and_failsafe(uint16_t throttle_pwm)
if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) { if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) {
// if we are already in failsafe or motors not armed pass through throttle and exit // if we are already in failsafe or motors not armed pass through throttle and exit
if (ap.failsafe || !motors.armed()) { if (ap.failsafe_radio || !motors.armed()) {
g.rc_3.set_pwm(throttle_pwm); g.rc_3.set_pwm(throttle_pwm);
return; return;
} }
@ -183,7 +183,7 @@ static void set_throttle_and_failsafe(uint16_t throttle_pwm)
failsafe_counter++; failsafe_counter++;
if( failsafe_counter >= FS_COUNTER ) { if( failsafe_counter >= FS_COUNTER ) {
failsafe_counter = FS_COUNTER; // check to ensure we don't overflow the counter failsafe_counter = FS_COUNTER; // check to ensure we don't overflow the counter
set_failsafe(true); set_failsafe_radio(true);
g.rc_3.set_pwm(throttle_pwm); // pass through failsafe throttle g.rc_3.set_pwm(throttle_pwm); // pass through failsafe throttle
} }
}else{ }else{
@ -193,8 +193,8 @@ static void set_throttle_and_failsafe(uint16_t throttle_pwm)
failsafe_counter = 0; // check to ensure we don't underflow the counter failsafe_counter = 0; // check to ensure we don't underflow the counter
// disengage failsafe after three (nearly) consecutive valid throttle values // disengage failsafe after three (nearly) consecutive valid throttle values
if (ap.failsafe) { if (ap.failsafe_radio) {
set_failsafe(false); set_failsafe_radio(false);
} }
} }
// pass through throttle // pass through throttle

4
ArduCopter/system.pde
Unescape View File

@ -384,8 +384,8 @@ static void set_mode(uint8_t mode)
// used to stop fly_aways // used to stop fly_aways
// set to false if we have low throttle // set to false if we have low throttle
motors.auto_armed(g.rc_3.control_in > 0 || ap.failsafe); motors.auto_armed(g.rc_3.control_in > 0 || ap.failsafe_radio);
set_auto_armed(g.rc_3.control_in > 0 || ap.failsafe); set_auto_armed(g.rc_3.control_in > 0 || ap.failsafe_radio);
// if we change modes, we must clear landed flag // if we change modes, we must clear landed flag
set_land_complete(false); set_land_complete(false);

Write Preview
Loading…
Cancel
Save