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127 lines
3.2 KiB
127 lines
3.2 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "Plane.h" |
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void Plane::failsafe_short_on_event(enum failsafe_state fstype) |
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{ |
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// This is how to handle a short loss of control signal failsafe. |
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failsafe.state = fstype; |
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failsafe.ch3_timer_ms = millis(); |
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gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event on, ")); |
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switch(control_mode) |
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{ |
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case MANUAL: |
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case STABILIZE: |
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case ACRO: |
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case FLY_BY_WIRE_A: |
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case AUTOTUNE: |
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case FLY_BY_WIRE_B: |
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case CRUISE: |
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case TRAINING: |
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failsafe.saved_mode = control_mode; |
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failsafe.saved_mode_set = 1; |
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if(g.short_fs_action == 2) { |
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set_mode(FLY_BY_WIRE_A); |
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} else { |
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set_mode(CIRCLE); |
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} |
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break; |
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case AUTO: |
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case GUIDED: |
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case LOITER: |
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if(g.short_fs_action != 0) { |
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failsafe.saved_mode = control_mode; |
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failsafe.saved_mode_set = 1; |
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if(g.short_fs_action == 2) { |
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set_mode(FLY_BY_WIRE_A); |
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} else { |
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set_mode(CIRCLE); |
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} |
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} |
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break; |
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case CIRCLE: |
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case RTL: |
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default: |
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break; |
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} |
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gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode); |
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} |
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void Plane::failsafe_long_on_event(enum failsafe_state fstype) |
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{ |
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// This is how to handle a long loss of control signal failsafe. |
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gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Long event on, ")); |
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// If the GCS is locked up we allow control to revert to RC |
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hal.rcin->clear_overrides(); |
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failsafe.state = fstype; |
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switch(control_mode) |
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{ |
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case MANUAL: |
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case STABILIZE: |
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case ACRO: |
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case FLY_BY_WIRE_A: |
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case AUTOTUNE: |
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case FLY_BY_WIRE_B: |
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case CRUISE: |
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case TRAINING: |
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case CIRCLE: |
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if(g.long_fs_action == 2) { |
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set_mode(FLY_BY_WIRE_A); |
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} else { |
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set_mode(RTL); |
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} |
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break; |
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case AUTO: |
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case GUIDED: |
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case LOITER: |
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if(g.long_fs_action == 2) { |
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set_mode(FLY_BY_WIRE_A); |
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} else if (g.long_fs_action == 1) { |
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set_mode(RTL); |
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} |
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break; |
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case RTL: |
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default: |
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break; |
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} |
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if (fstype == FAILSAFE_GCS) { |
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gcs_send_text_P(SEVERITY_HIGH, PSTR("No GCS heartbeat.")); |
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} |
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gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode); |
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} |
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void Plane::failsafe_short_off_event() |
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{ |
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// We're back in radio contact |
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gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event off")); |
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failsafe.state = FAILSAFE_NONE; |
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// re-read the switch so we can return to our preferred mode |
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// -------------------------------------------------------- |
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if (control_mode == CIRCLE && failsafe.saved_mode_set) { |
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failsafe.saved_mode_set = 0; |
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set_mode(failsafe.saved_mode); |
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} |
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} |
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void Plane::low_battery_event(void) |
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{ |
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if (failsafe.low_battery) { |
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return; |
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} |
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gcs_send_text_fmt(PSTR("Low Battery %.2fV Used %.0f mAh"), |
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(double)battery.voltage(), (double)battery.current_total_mah()); |
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set_mode(RTL); |
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aparm.throttle_cruise.load(); |
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failsafe.low_battery = true; |
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AP_Notify::flags.failsafe_battery = true; |
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} |
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void Plane::update_events(void) |
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{ |
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ServoRelayEvents.update_events(); |
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}
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