void Copter::read_radio()
{
uint32_t tnow_ms = millis();
if (hal.rcin->new_input()) {
ap.new_radio_frame = true;
RC_Channel::set_pwm_all();
set_throttle_and_failsafe(channel_throttle->get_radio_in());
set_throttle_zero_flag(channel_throttle->get_control_in());
// flag we must have an rc receiver attached
if (!failsafe.rc_override_active) {
ap.rc_receiver_present = true;
}
// update output on any aux channels, for manual passthru
RC_Channel_aux::output_ch_all();
// pass pilot input through to motors (used to allow wiggling servos while disarmed on heli, single, coax copters)
radio_passthrough_to_motors();
float dt = (tnow_ms - last_radio_update_ms)*1.0e-3f;
rc_throttle_control_in_filter.apply(g.rc_3.get_control_in(), dt);
last_radio_update_ms = tnow_ms;
}else{
uint32_t elapsed = tnow_ms - last_radio_update_ms;
// turn on throttle failsafe if no update from the RC Radio for 500ms or 2000ms if we are using RC_OVERRIDE
if (((!failsafe.rc_override_active && (elapsed >= FS_RADIO_TIMEOUT_MS)) || (failsafe.rc_override_active && (elapsed >= FS_RADIO_RC_OVERRIDE_TIMEOUT_MS))) &&
(g.failsafe_throttle && (ap.rc_receiver_present||motors.armed()) && !failsafe.radio)) {
Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
set_failsafe_radio(true);
}
}
}
void Copter::read_radio()
{
static uint32_t last_update_ms = 0;
uint32_t tnow_ms = millis();
if (hal.rcin->new_input()) {
last_update_ms = tnow_ms;
ap.new_radio_frame = true;
RC_Channel::set_pwm_all();
set_throttle_and_failsafe(channel_throttle->radio_in);
set_throttle_zero_flag(channel_throttle->control_in);
// flag we must have an rc receiver attached
if (!failsafe.rc_override_active) {
ap.rc_receiver_present = true;
}
// update output on any aux channels, for manual passthru
RC_Channel_aux::output_ch_all();
}else{
uint32_t elapsed = tnow_ms - last_update_ms;
// turn on throttle failsafe if no update from the RC Radio for 500ms or 2000ms if we are using RC_OVERRIDE
if (((!failsafe.rc_override_active && (elapsed >= FS_RADIO_TIMEOUT_MS)) || (failsafe.rc_override_active && (elapsed >= FS_RADIO_RC_OVERRIDE_TIMEOUT_MS))) &&
(g.failsafe_throttle && (ap.rc_receiver_present||motors.armed()) && !failsafe.radio)) {
Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
set_failsafe_radio(true);
}
}
}
void Copter::set_throttle_and_failsafe(uint16_t throttle_pwm)
{
// if failsafe not enabled pass through throttle and exit
if(g.failsafe_throttle == FS_THR_DISABLED) {
channel_throttle->set_pwm(throttle_pwm);
return;
}
//check for low 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 (failsafe.radio || !(ap.rc_receiver_present || motors.armed())) {
channel_throttle->set_pwm(throttle_pwm);
return;
}
// check for 3 low throttle values
// Note: we do not pass through the low throttle until 3 low throttle values are received
failsafe.radio_counter++;
if( failsafe.radio_counter >= FS_COUNTER ) {
failsafe.radio_counter = FS_COUNTER; // check to ensure we don't overflow the counter
set_failsafe_radio(true);
channel_throttle->set_pwm(throttle_pwm); // pass through failsafe throttle
}
}else{
// we have a good throttle so reduce failsafe counter
failsafe.radio_counter--;
if( failsafe.radio_counter <= 0 ) {
failsafe.radio_counter = 0; // check to ensure we don't underflow the counter
// disengage failsafe after three (nearly) consecutive valid throttle values
if (failsafe.radio) {
set_failsafe_radio(false);
}
}
// pass through throttle
channel_throttle->set_pwm(throttle_pwm);
}
}
void Copter::read_radio()
{
const uint32_t tnow_ms = millis();
if (rc().read_input()) {
ap.new_radio_frame = true;
set_throttle_and_failsafe(channel_throttle->get_radio_in());
set_throttle_zero_flag(channel_throttle->get_control_in());
if (!ap.rc_receiver_present) {
// RC receiver must be attached if we've just got input and
// there are no overrides
ap.rc_receiver_present = !RC_Channels::has_active_overrides();
}
// pass pilot input through to motors (used to allow wiggling servos while disarmed on heli, single, coax copters)
radio_passthrough_to_motors();
const float dt = (tnow_ms - last_radio_update_ms)*1.0e-3f;
rc_throttle_control_in_filter.apply(channel_throttle->get_control_in(), dt);
last_radio_update_ms = tnow_ms;
return;
}
// No radio input this time
if (failsafe.radio) {
// already in failsafe!
return;
}
const uint32_t elapsed = tnow_ms - last_radio_update_ms;
// turn on throttle failsafe if no update from the RC Radio for 500ms or 2000ms if we are using RC_OVERRIDE
const uint32_t timeout = RC_Channels::has_active_overrides() ? FS_RADIO_RC_OVERRIDE_TIMEOUT_MS : FS_RADIO_TIMEOUT_MS;
if (elapsed < timeout) {
// not timed out yet
return;
}
if (!g.failsafe_throttle) {
// throttle failsafe not enabled
return;
}
if (!ap.rc_receiver_present && !motors->armed()) {
// we only failsafe if we are armed OR we have ever seen an RC receiver
return;
}
// Nobody ever talks to us. Log an error and enter failsafe.
Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
set_failsafe_radio(true);
}
