// failsafe_ekf_event - perform ekf failsafe
void Copter::failsafe_ekf_event()
{
// return immediately if ekf failsafe already triggered
if (failsafe.ekf) {
return;
}
// EKF failsafe event has occurred
failsafe.ekf = true;
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_EKFINAV, ERROR_CODE_FAILSAFE_OCCURRED);
// take action based on fs_ekf_action parameter
switch (g.fs_ekf_action) {
case FS_EKF_ACTION_ALTHOLD:
// AltHold
if (failsafe.radio || !set_mode(ALT_HOLD, MODE_REASON_EKF_FAILSAFE)) {
set_mode_land_with_pause(MODE_REASON_EKF_FAILSAFE);
}
break;
default:
set_mode_land_with_pause(MODE_REASON_EKF_FAILSAFE);
break;
}
// if flight mode is already LAND ensure it's not the GPS controlled LAND
if (control_mode == LAND) {
mode_land.do_not_use_GPS();
}
}
/*
* 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);
}
// set_mode_SmartRTL_or_land_with_pause - sets mode to SMART_RTL if possible or LAND with 4 second delay before descent starts
// this is always called from a failsafe so we trigger notification to pilot
void Copter::set_mode_SmartRTL_or_land_with_pause(mode_reason_t reason)
{
// attempt to switch to SMART_RTL, if this failed then switch to Land
if (!set_mode(SMART_RTL, reason)) {
gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Using Land Mode");
set_mode_land_with_pause(reason);
} else {
AP_Notify::events.failsafe_mode_change = 1;
}
}
// set_mode_RTL_or_land_with_pause - sets mode to RTL if possible or LAND with 4 second delay before descent starts
// this is always called from a failsafe so we trigger notification to pilot
void Copter::set_mode_RTL_or_land_with_pause(mode_reason_t reason)
{
// attempt to switch to RTL, if this fails then switch to Land
if (!set_mode(RTL, reason)) {
// set mode to land will trigger mode change notification to pilot
set_mode_land_with_pause(reason);
} else {
// alert pilot to mode change
AP_Notify::events.failsafe_mode_change = 1;
}
}
// failsafe_ekf_event - perform ekf failsafe
void Copter::failsafe_ekf_event()
{
// return immediately if ekf failsafe already triggered
if (failsafe.ekf) {
return;
}
// do nothing if motors disarmed
if (!motors.armed()) {
return;
}
// do nothing if not in GPS flight mode and ekf-action is not land-even-stabilize
if (!mode_requires_GPS(control_mode) && (g.fs_ekf_action != FS_EKF_ACTION_LAND_EVEN_STABILIZE)) {
return;
}
// EKF failsafe event has occurred
failsafe.ekf = true;
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_EKFINAV, ERROR_CODE_FAILSAFE_OCCURRED);
// take action based on fs_ekf_action parameter
switch (g.fs_ekf_action) {
case FS_EKF_ACTION_ALTHOLD:
// AltHold
if (failsafe.radio || !set_mode(ALT_HOLD, MODE_REASON_EKF_FAILSAFE)) {
set_mode_land_with_pause(MODE_REASON_EKF_FAILSAFE);
}
break;
default:
set_mode_land_with_pause(MODE_REASON_EKF_FAILSAFE);
break;
}
// if flight mode is already LAND ensure it's not the GPS controlled LAND
if (control_mode == LAND) {
land_do_not_use_GPS();
}
}
/*
* 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;
}
// This is how to handle a failsafe.
switch(control_mode) {
case STABILIZE:
case ACRO:
// if throttle is zero OR vehicle is landed disarm motors
if (ap.throttle_zero || ap.land_complete) {
init_disarm_motors();
// if failsafe_throttle is FS_THR_ENABLED_ALWAYS_LAND then land immediately
}else if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
set_mode_land_with_pause();
// if far from home then RTL
}else if(home_distance > wp_nav.get_wp_radius()) {
// switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause();
// We have no GPS or are very close to home so we will land
}else{
set_mode_land_with_pause();
}
break;
case AUTO:
// if mission has not started AND vehicle is landed, disarm motors
if (!ap.auto_armed && ap.land_complete) {
init_disarm_motors();
// if failsafe_throttle is FS_THR_ENABLED_ALWAYS_LAND then land immediately
} else if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
set_mode_land_with_pause();
// if failsafe_throttle is FS_THR_ENABLED_ALWAYS_RTL do RTL
} else if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_RTL) {
if(home_distance > wp_nav.get_wp_radius()) {
// switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause();
}else{
// We are very close to home so we will land
set_mode_land_with_pause();
}
}
// failsafe_throttle must be FS_THR_ENABLED_CONTINUE_MISSION so no need to do anything
break;
case LAND:
// continue to land if battery failsafe is also active otherwise fall through to default handling
if (g.failsafe_battery_enabled == FS_BATT_LAND && failsafe.battery) {
break;
}
// no break
default:
// used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, Autotune, PosHold
// if landed disarm
if (ap.land_complete) {
init_disarm_motors();
// if failsafe_throttle is FS_THR_ENABLED_ALWAYS_LAND then land immediately
} else if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
set_mode_land_with_pause();
// if far from home then RTL
}else if(home_distance > wp_nav.get_wp_radius()) {
// switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause();
}else{
// We have no GPS or are very close to home so we will land
set_mode_land_with_pause();
}
break;
}
// log the error to the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_RADIO, 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 occured
// 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;
// This is how to handle a failsafe.
// use the throttle failsafe setting to decide what to do
switch(control_mode) {
case STABILIZE:
case ACRO:
case SPORT:
// if throttle is zero disarm motors
if (ap.throttle_zero || ap.land_complete) {
init_disarm_motors();
}else if(home_distance > wp_nav.get_wp_radius()) {
// switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause();
}else{
// We have no GPS or are very close to home so we will land
set_mode_land_with_pause();
}
break;
case AUTO:
// if mission has not started AND vehicle is landed, disarm motors
if (!ap.auto_armed && ap.land_complete) {
init_disarm_motors();
// if g.failsafe_gcs is 1 do RTL, 2 means continue with the mission
} else if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_RTL) {
if (home_distance > wp_nav.get_wp_radius()) {
// switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause();
}else{
// We are very close to home so we will land
set_mode_land_with_pause();
}
}
// if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
break;
default:
// used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, Autotune, PosHold
// if landed disarm
if (ap.land_complete) {
init_disarm_motors();
} else if (home_distance > wp_nav.get_wp_radius()) {
// switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause();
}else{
// We have no GPS or are very close to home so we will land
set_mode_land_with_pause();
}
break;
}
}
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()) {
switch(control_mode) {
case STABILIZE:
case ACRO:
// if throttle is zero OR vehicle is landed disarm motors
if (ap.throttle_zero || ap.land_complete) {
init_disarm_motors();
}else{
// set mode to RTL or LAND
if (g.failsafe_battery_enabled == FS_BATT_RTL && home_distance > wp_nav.get_wp_radius()) {
// switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause();
}else{
set_mode_land_with_pause();
}
}
break;
case AUTO:
// if mission has not started AND vehicle is landed, disarm motors
if (!ap.auto_armed && ap.land_complete) {
init_disarm_motors();
// set mode to RTL or LAND
} else if (home_distance > wp_nav.get_wp_radius()) {
// switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause();
} else {
set_mode_land_with_pause();
}
break;
default:
// used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, Autotune, PosHold
// if landed disarm
if (ap.land_complete) {
init_disarm_motors();
// set mode to RTL or LAND
} else if (g.failsafe_battery_enabled == FS_BATT_RTL && home_distance > wp_nav.get_wp_radius()) {
// switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause();
} else {
set_mode_land_with_pause();
}
break;
}
}
// set the low battery flag
set_failsafe_battery(true);
// warn the ground station and log to dataflash
gcs_send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_BATT, ERROR_CODE_FAILSAFE_OCCURRED);
}