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140 lines
3.8 KiB
140 lines
3.8 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#pragma once |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Outback Challenge Failsafe module |
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Andrew Tridgell and CanberraUAV, August 2012 |
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*/ |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Param/AP_Param.h> |
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#include <AP_Mission/AP_Mission.h> |
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#include <AP_Baro/AP_Baro.h> |
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#include <AP_GPS/AP_GPS.h> |
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#include <AP_RCMapper/AP_RCMapper.h> |
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#include <inttypes.h> |
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class AP_AdvancedFailsafe |
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{ |
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public: |
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enum control_mode { |
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AFS_MANUAL = 0, |
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AFS_STABILIZED = 1, |
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AFS_AUTO = 2 |
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}; |
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enum state { |
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STATE_PREFLIGHT = 0, |
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STATE_AUTO = 1, |
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STATE_DATA_LINK_LOSS = 2, |
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STATE_GPS_LOSS = 3 |
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}; |
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// Constructor |
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AP_AdvancedFailsafe(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap) : |
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mission(_mission), |
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baro(_baro), |
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gps(_gps), |
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rcmap(_rcmap), |
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_gps_loss_count(0), |
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_comms_loss_count(0) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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_state = STATE_PREFLIGHT; |
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_terminate.set(0); |
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_saved_wp = 0; |
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} |
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// check that everything is OK |
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void check(uint32_t last_heartbeat_ms, bool geofence_breached, uint32_t last_valid_rc_ms); |
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// generate heartbeat msgs, so external failsafe boards are happy |
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// during sensor calibration |
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void heartbeat(void); |
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// return true if we are terminating (deliberately crashing the vehicle) |
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bool should_crash_vehicle(void); |
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// for holding parameters |
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static const struct AP_Param::GroupInfo var_info[]; |
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// called to set all outputs to termination state |
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virtual void terminate_vehicle(void) = 0; |
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protected: |
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// setup failsafe values for if FMU firmware stops running |
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virtual void setup_IO_failsafe(void) = 0; |
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// return the AFS mapped control mode |
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virtual enum control_mode afs_mode(void) = 0; |
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enum state _state; |
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AP_Mission &mission; |
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AP_Baro &baro; |
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const AP_GPS &gps; |
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const RCMapper &rcmap; |
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AP_Int8 _enable; |
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// digital output pins for communicating with the failsafe board |
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AP_Int8 _heartbeat_pin; |
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AP_Int8 _manual_pin; |
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AP_Int8 _terminate_pin; |
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AP_Int8 _terminate; |
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AP_Int8 _terminate_action; |
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// waypoint numbers to jump to on failsafe conditions |
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AP_Int8 _wp_comms_hold; |
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AP_Int8 _wp_gps_loss; |
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AP_Float _qnh_pressure; |
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AP_Int32 _amsl_limit; |
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AP_Int32 _amsl_margin_gps; |
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AP_Float _rc_fail_time_seconds; |
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AP_Int8 _max_gps_loss; |
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AP_Int8 _max_comms_loss; |
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AP_Int8 _enable_geofence_fs; |
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AP_Int8 _enable_RC_fs; |
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AP_Int8 _rc_term_manual_only; |
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AP_Int8 _enable_dual_loss; |
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bool _heartbeat_pin_value; |
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// saved waypoint for resuming mission |
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uint8_t _saved_wp; |
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// number of times we've lost GPS |
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uint8_t _gps_loss_count; |
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// number of times we've lost data link |
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uint8_t _comms_loss_count; |
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// last comms loss time |
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uint32_t _last_comms_loss_ms; |
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// last GPS loss time |
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uint32_t _last_gps_loss_ms; |
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// have the failsafe values been setup? |
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bool _failsafe_setup:1; |
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bool check_altlimit(void); |
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};
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