C++ (Cpp) set_failsafe_mode Beispiele

Beispiel #1

Datei: main_fbw.c Projekt: Fokker/paparazzi-1

/************* PERIODIC ******************************************************/
void periodic_task_fbw( void ) {

#ifdef RADIO_CONTROL
  radio_control_periodic_task();
  if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) {
#ifdef OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP
#warning WARNING DANGER: OUTBACK_CHALLENGE RULE RC_LOST_NO_AP defined. If you loose RC you will NOT go to automatically go to AUTO2 Anymore!!
set_failsafe_mode();
#else
    fbw_mode = FBW_MODE_AUTO;
#endif
  }
#endif

#ifdef INTER_MCU
  inter_mcu_periodic_task();
  if (fbw_mode == FBW_MODE_AUTO && !ap_ok)
  {
    set_failsafe_mode();
  }
#endif

#ifdef MCU_UART_LINK
  inter_mcu_fill_fbw_state();
  link_mcu_periodic_task();
#endif

#ifdef DOWNLINK
  fbw_downlink_periodic_task();
#endif

}

Beispiel #2

Datei: main_fbw.c Projekt: mantauav/paparazzi

/************* PERIODIC ******************************************************/
void periodic_task_fbw( void ) {
  static uint8_t _10Hz; /* FIXME : sys_time should provide it */
  _10Hz++;
  if (_10Hz >= 6) _10Hz = 0;

#ifdef RADIO_CONTROL
  radio_control_periodic_task();
  if (radio_control.status == RC_REALLY_LOST)
  {
    fbw_mode = fbw_rc_really_lost_mode;
//    pprz_mode= PPRZ_MODE_HOME;
  }
  if (fbw_mode == FBW_MODE_FAILSAFE)
    set_failsafe_mode();
  if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) {
    fbw_mode = FBW_MODE_AUTO;
  }
#endif
/*if (radio_control.status == RC_REALLY_LOST)
{
   fbw_mode = FBW_MODE_FAILSAFE;
   set_failsafe_mode();
}*/
if (radio_control.status==RC_OK)
{
   if (pprz_mode == PPRZ_MODE_MANUAL)
   {
     fbw_mode = FBW_MODE_MANUAL;
   }
   else
   {
     if ((pprz_mode == PPRZ_MODE_AUTO1) || (pprz_mode == PPRZ_MODE_AUTO2))
       fbw_mode = FBW_MODE_AUTO;
   }
}
   

#ifdef INTER_MCU
  inter_mcu_periodic_task();
  if (fbw_mode == FBW_MODE_AUTO && !ap_ok)
    set_failsafe_mode();
#endif
#ifdef DOWNLINK
  fbw_downlink_periodic_task();
#endif

  if (!_10Hz) {
    electrical_periodic();
  }

#ifdef ACTUATORS
  #ifdef USE_RC_GYRO
  if ((fbw_mode == FBW_MODE_MANUAL) || (fbw_mode==FBW_MODE_AUTO))
  {
    rc_gyro_apply_damping(commands);
    SetActuatorsFromCommands(rc_gyro_damped_commands)
  }

Beispiel #3

Datei: main_fbw.c Projekt: AshuLara/lisa

/************* PERIODIC ******************************************************/
void periodic_task_fbw( void ) {
  static uint8_t _10Hz; /* FIXME : sys_time should provide it */
  _10Hz++;
  if (_10Hz >= 6) _10Hz = 0;

#ifdef RADIO_CONTROL
  radio_control_periodic_task();
  if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) {
    fbw_mode = FBW_MODE_AUTO;
  }
#endif

#ifdef INTER_MCU
  inter_mcu_periodic_task();
  if (fbw_mode == FBW_MODE_AUTO && !ap_ok)
  {
    set_failsafe_mode();
  }
#endif

#ifdef DOWNLINK
  fbw_downlink_periodic_task();
#endif

  if (!_10Hz) {
    electrical_periodic();
  }

}

Beispiel #4

Datei: main_fbw.c Projekt: nvelozsavino/paparazzi

void post_inter_mcu_received_ap(void)
{
    int crash = 0;
    if (commands[COMMAND_FORCECRASH] >= 8000) {
        set_failsafe_mode();
        crash = 1;
    }
}

Beispiel #5

Datei: main_fbw.c Projekt: jziesing/paparazzi

/************* PERIODIC ******************************************************/
void periodic_task_fbw(void)
{

#ifdef FBW_DATALINK
  fbw_datalink_periodic();
#endif

#ifdef RADIO_CONTROL
  radio_control_periodic_task();
  if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) {
#if OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP
#warning WARNING DANGER: OUTBACK_CHALLENGE RULE RC_LOST_NO_AP defined. If you loose RC you will NOT go to automatically go to AUTO2 Anymore!!
    set_failsafe_mode();
#if OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP_IRREVERSIBLE
#warning WARNING DANGER: OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP_IRREVERSIBLE defined. If you ever temporarly lost RC while in manual, you will failsafe forever even if RC is restored
    commands[COMMAND_FORCECRASH] = 9600;
#endif
#else
    fbw_mode = FBW_MODE_AUTO;
#endif
  }
#endif

#ifdef INTER_MCU
  inter_mcu_periodic_task();
  if (fbw_mode == FBW_MODE_AUTO && !ap_ok) {
    set_failsafe_mode();
  }
#endif

#ifdef MCU_UART_LINK
  inter_mcu_fill_fbw_state();
  link_mcu_periodic_task();
#endif

#ifdef MCU_CAN_LINK
  inter_mcu_fill_fbw_state();
  link_mcu_periodic_task();
#endif

#if PERIODIC_TELEMETRY
  periodic_telemetry_send_Fbw(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
#endif

}

Beispiel #6

Datei: main_fbw.c Projekt: nvelozsavino/paparazzi

/**
 * Handles inter_mcu periodic checks
 */
void inter_mcu_periodic_handle(void)
{
    inter_mcu_periodic_task();
    if (fbw_mode == FBW_MODE_AUTO && !ap_ok) {
        set_failsafe_mode();
    }

#if defined MCU_UART_LINK || defined MCU_CAN_LINK
    inter_mcu_fill_fbw_state();
    link_mcu_periodic_task();
#endif /* defined MCU_UART_LINK || defined MCU_CAN_LINK */
}

Beispiel #7

Datei: main_fbw.c Projekt: arizonamav/Old-paparazzi-designs

/************* PERIODIC ******************************************************/
void periodic_task_fbw( void ) {
  static uint8_t _10Hz; /* FIXME : sys_time should provide it */
  _10Hz++;
  if (_10Hz >= 6) _10Hz = 0;

#ifdef RADIO_CONTROL
  radio_control_periodic_task();
  if (fbw_mode == FBW_MODE_MANUAL && rc_status == RC_REALLY_LOST) {
    fbw_mode = FBW_MODE_AUTO;
  }
#endif

#ifdef INTER_MCU
  inter_mcu_periodic_task();
  if (fbw_mode == FBW_MODE_AUTO && !ap_ok)
    set_failsafe_mode();
#endif

#ifdef DOWNLINK
  fbw_downlink_periodic_task();
#endif

#ifdef ADC
  if (!_10Hz)
    fbw_vsupply_decivolt = VoltageOfAdc((10*(vsupply_adc_buf.sum/vsupply_adc_buf.av_nb_sample)));
#endif

#ifdef ACTUATORS
#ifdef CTL_GRZ
  if (rc_status == RC_REALLY_LOST) {
    set_failsafe_mode();
  } else {
    ctl_grz_rate_run();
  }
#endif /* CTL_GRZ */
  SetActuatorsFromCommands(commands);
#endif


}

Beispiel #8

Datei: main_fbw.c Projekt: BrandoJS/paparazzi

/************* PERIODIC ******************************************************/
void periodic_task_fbw( void ) {

#ifdef RADIO_CONTROL
  radio_control_periodic_task();
  if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) {
    fbw_mode = FBW_MODE_AUTO;
  }
#endif

#ifdef INTER_MCU
  inter_mcu_periodic_task();
  if (fbw_mode == FBW_MODE_AUTO && !ap_ok)
  {
    set_failsafe_mode();
  }
#endif

#ifdef DOWNLINK
  fbw_downlink_periodic_task();
#endif

}

Beispiel #9

Datei: main_fbw.c Projekt: nvelozsavino/paparazzi

void radio_lost_mode(void)
{
    set_failsafe_mode();
}

Beispiel #10

Datei: main_fbw.c Projekt: Fokker/paparazzi-1

void event_task_fbw( void) {
#ifdef RADIO_CONTROL
  RadioControlEvent(handle_rc_frame);
#endif

  i2c_event();

#ifdef INTER_MCU
#if defined MCU_SPI_LINK | defined MCU_UART_LINK
    link_mcu_event_task();
#endif /* MCU_SPI_LINK */


  if (inter_mcu_received_ap) {
    inter_mcu_received_ap = FALSE;
    inter_mcu_event_task();
    command_roll_trim = ap_state->command_roll_trim;
    command_pitch_trim = ap_state->command_pitch_trim;
#ifndef OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP
    if (ap_ok && fbw_mode == FBW_MODE_FAILSAFE) {
      fbw_mode = FBW_MODE_AUTO;
    }
#endif
    if (fbw_mode == FBW_MODE_AUTO) {
      SetCommands(ap_state->commands);
    }
#ifdef SetApOnlyCommands
    else
    {
      SetApOnlyCommands(ap_state->commands);
    }
#endif
    fbw_new_actuators = 1;

#ifdef SINGLE_MCU
    inter_mcu_fill_fbw_state();
#endif /**Else the buffer is filled even if the last receive was not correct */
  }

#if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE
#warning DANGER DANGER DANGER DANGER: Outback Challenge Rule FORCE-CRASH-RULE: DANGER DANGER: AP is now capable to FORCE your FBW in failsafe mode EVEN IF RC IS NOT LOST: Consider the consequences.

  int crash = 0;
  if (commands[COMMAND_FORCECRASH] >= 8000)
  {
    set_failsafe_mode();
    crash = 1;
  }

#endif
#ifdef ACTUATORS
  if (fbw_new_actuators > 0)
  {
    pprz_t trimmed_commands[COMMANDS_NB];
    int i;
    for(i = 0; i < COMMANDS_NB; i++) trimmed_commands[i] = commands[i];

    #ifdef COMMAND_ROLL
    trimmed_commands[COMMAND_ROLL] += ChopAbs(command_roll_trim, MAX_PPRZ/10);
    #endif
    #ifdef COMMAND_PITCH
    trimmed_commands[COMMAND_PITCH] += ChopAbs(command_pitch_trim, MAX_PPRZ/10);
    #endif

    SetActuatorsFromCommands(trimmed_commands);
    fbw_new_actuators = 0;
    #if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE
    if (crash == 1)
    {
      for (;;) {}
    }
    #endif

  }
#endif


#ifdef MCU_SPI_LINK
  if (link_mcu_received) {
    link_mcu_received = FALSE;
    inter_mcu_fill_fbw_state(); /** Prepares the next message for AP */
    link_mcu_restart(); /** Prepares the next SPI communication */
  }
#endif /* MCU_SPI_LINK */
#endif /* INTER_MCU */

}

Beispiel #11

Datei: main_fbw.c Projekt: jziesing/paparazzi

void event_task_fbw(void)
{
#ifdef RADIO_CONTROL
  RadioControlEvent(handle_rc_frame);
#endif

  /* event functions for mcu peripherals, like i2c, uart, etc.. */
  mcu_event();

#ifdef INTER_MCU
#if defined MCU_SPI_LINK | defined MCU_UART_LINK
  link_mcu_event_task();
#endif /* MCU_SPI_LINK */


#if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_NO_AP_MUST_FAILSAFE
#warning OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_NO_AP_MUST_FAILSAFE loose ap is forced crash
  if (ap_ok) {
    ap_has_been_ok = TRUE;
  }

  if ((ap_has_been_ok) && (!ap_ok)) {
    commands[COMMAND_FORCECRASH] = 9600;
  }
#endif

  if (inter_mcu_received_ap) {
    inter_mcu_received_ap = FALSE;
    inter_mcu_event_task();
    command_roll_trim = ap_state->command_roll_trim;
    command_pitch_trim = ap_state->command_pitch_trim;
    command_yaw_trim = ap_state->command_yaw_trim;
#if OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP
    // LOST-RC: do NOT go to autonomous
    // auto = stay in auto
    // manual = stay in manual
#else
    if (ap_ok && fbw_mode == FBW_MODE_FAILSAFE) {
      fbw_mode = FBW_MODE_AUTO;
    }
#endif
    if (fbw_mode == FBW_MODE_AUTO) {
      SetCommands(ap_state->commands);
    }
#ifdef SetApOnlyCommands
    else {
      SetApOnlyCommands(ap_state->commands);
    }
#endif
    fbw_new_actuators = 1;

#ifdef SINGLE_MCU
    inter_mcu_fill_fbw_state();
#endif /**Else the buffer is filled even if the last receive was not correct */
  }

#if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE
#warning DANGER DANGER DANGER DANGER: Outback Challenge Rule FORCE-CRASH-RULE: DANGER DANGER: AP is now capable to FORCE your FBW in failsafe mode EVEN IF RC IS NOT LOST: Consider the consequences.
  // OUTBACK: JURY REQUEST FLIGHT TERMINATION
  int crash = 0;
  if (commands[COMMAND_FORCECRASH] >= 8000) {
    set_failsafe_mode();
    crash = 1;
  }

#endif
#ifdef ACTUATORS
  if (fbw_new_actuators > 0) {
    pprz_t trimmed_commands[COMMANDS_NB];
    int i;
    for (i = 0; i < COMMANDS_NB; i++) { trimmed_commands[i] = commands[i]; }

#ifdef COMMAND_ROLL
    trimmed_commands[COMMAND_ROLL] += ChopAbs(command_roll_trim, MAX_PPRZ / 10);
#endif
#ifdef COMMAND_PITCH
    trimmed_commands[COMMAND_PITCH] += ChopAbs(command_pitch_trim, MAX_PPRZ / 10);
#endif
#ifdef COMMAND_YAW
    trimmed_commands[COMMAND_YAW] += ChopAbs(command_yaw_trim, MAX_PPRZ);
#endif

    SetActuatorsFromCommands(trimmed_commands, autopilot_mode);
    fbw_new_actuators = 0;
#if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE
    if (crash == 1) {
      for (;;) {
#if FBW_DATALINK
        fbw_datalink_event();
#endif
      }
    }
#endif

  }
#endif


#ifdef MCU_SPI_LINK
  if (link_mcu_received) {
    link_mcu_received = FALSE;
    inter_mcu_fill_fbw_state(); /** Prepares the next message for AP */
    link_mcu_restart(); /** Prepares the next SPI communication */
  }
#endif /* MCU_SPI_LINK */
#endif /* INTER_MCU */

#ifdef FBW_DATALINK
  fbw_datalink_event();
#endif
}