/* * This event will be called when the failsafe changes * boolean failsafe reflects the current state */ void Copter::failsafe_radio_on_event() { // if motors are not armed there is nothing to do if( !motors.armed() ) { return; } if (should_disarm_on_failsafe()) { init_disarm_motors(); } else { if (control_mode == AUTO && g.failsafe_throttle == FS_THR_ENABLED_CONTINUE_MISSION) { // continue mission } else if (control_mode == LAND && g.failsafe_battery_enabled == FS_BATT_LAND && failsafe.battery) { // continue landing } else { if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) { set_mode_land_with_pause(MODE_REASON_RADIO_FAILSAFE); } else { set_mode_RTL_or_land_with_pause(MODE_REASON_RADIO_FAILSAFE); } } } // log the error to the dataflash Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, ERROR_CODE_FAILSAFE_OCCURRED); }
void Copter::failsafe_battery_event(void) { // return immediately if low battery event has already been triggered if (failsafe.battery) { return; } // failsafe check if (g.failsafe_battery_enabled != FS_BATT_DISABLED && motors.armed()) { if (should_disarm_on_failsafe()) { init_disarm_motors(); } else { if (g.failsafe_battery_enabled == FS_BATT_RTL || control_mode == AUTO) { set_mode_RTL_or_land_with_pause(MODE_REASON_BATTERY_FAILSAFE); } else { set_mode_land_with_pause(MODE_REASON_BATTERY_FAILSAFE); } } } // set the low battery flag set_failsafe_battery(true); // warn the ground station and log to dataflash gcs_send_text(MAV_SEVERITY_WARNING,"Low battery"); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED); }
// failsafe_gcs_check - check for ground station failsafe void Copter::failsafe_gcs_check() { uint32_t last_gcs_update_ms; // return immediately if gcs failsafe is disabled, gcs has never been connected or we are not overriding rc controls from the gcs and we are not in guided mode // this also checks to see if we have a GCS failsafe active, if we do, then must continue to process the logic for recovery from this state. if ((!failsafe.gcs)&&(g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0 || (!failsafe.rc_override_active && control_mode != GUIDED))) { return; } // calc time since last gcs update // note: this only looks at the heartbeat from the device id set by g.sysid_my_gcs last_gcs_update_ms = millis() - failsafe.last_heartbeat_ms; // check if all is well if (last_gcs_update_ms < FS_GCS_TIMEOUT_MS) { // check for recovery from gcs failsafe if (failsafe.gcs) { failsafe_gcs_off_event(); set_failsafe_gcs(false); } return; } // do nothing if gcs failsafe already triggered or motors disarmed if (failsafe.gcs || !motors->armed()) { return; } // GCS failsafe event has occurred // update state, log to dataflash set_failsafe_gcs(true); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GCS, ERROR_CODE_FAILSAFE_OCCURRED); // clear overrides so that RC control can be regained with radio. hal.rcin->clear_overrides(); failsafe.rc_override_active = false; if (should_disarm_on_failsafe()) { init_disarm_motors(); } else { if (control_mode == AUTO && g.failsafe_gcs == FS_GCS_ENABLED_CONTINUE_MISSION) { // continue mission } else if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL) { set_mode_SmartRTL_or_RTL(MODE_REASON_GCS_FAILSAFE); } else if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_LAND) { set_mode_SmartRTL_or_land_with_pause(MODE_REASON_GCS_FAILSAFE); } else { // g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_RTL set_mode_RTL_or_land_with_pause(MODE_REASON_GCS_FAILSAFE); } } }
// terrain failsafe action void Copter::failsafe_terrain_on_event() { failsafe.terrain = true; gcs().send_text(MAV_SEVERITY_CRITICAL,"Failsafe: Terrain data missing"); Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_TERRAIN, ERROR_CODE_FAILSAFE_OCCURRED); if (should_disarm_on_failsafe()) { init_disarm_motors(); } else if (control_mode == RTL) { mode_rtl.restart_without_terrain(); } else { set_mode_RTL_or_land_with_pause(MODE_REASON_TERRAIN_FAILSAFE); } }