// crash_check - disarms motors if a crash or block has been detected
// crashes are detected by the vehicle being static (no speed) for more than CRASH_CHECK_TRIGGER_SEC and motor are running
// called at 10Hz
void Rover::crash_check()
{
static uint16_t crash_counter; // number of iterations vehicle may have been crashed
bool crashed = false; //stores crash state
// return immediately if disarmed, crash checking is disabled or vehicle is Hold, Manual or Acro mode(if it is not a balance bot)
if (!arming.is_armed() || g.fs_crash_check == FS_CRASH_DISABLE || ((!control_mode->is_autopilot_mode()) && (!is_balancebot()))) {
crash_counter = 0;
return;
}
// Crashed if pitch/roll > crash_angle
if ((g2.crash_angle != 0) && ((fabsf(ahrs.pitch) > radians(g2.crash_angle)) || (fabsf(ahrs.roll) > radians(g2.crash_angle)))) {
crashed = true;
}
// TODO : Check if min vel can be calculated
// min_vel = ( CRASH_CHECK_THROTTLE_MIN * g.speed_cruise) / g.throttle_cruise;
if (!is_balancebot()) {
if (!crashed && ((ahrs.groundspeed() >= CRASH_CHECK_VEL_MIN) || // Check velocity
(fabsf(ahrs.get_gyro().z) >= CRASH_CHECK_VEL_MIN) || // Check turn speed
(fabsf(g2.motors.get_throttle()) < CRASH_CHECK_THROTTLE_MIN))) {
crash_counter = 0;
return;
}
// we may be crashing
crash_counter++;
// check if crashing for 2 seconds
if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * 10)) {
crashed = true;
}
}
if (crashed) {
AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK,
LogErrorCode::CRASH_CHECK_CRASH);
if (is_balancebot()) {
// send message to gcs
gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Disarming");
disarm_motors();
} else {
// send message to gcs
gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash: Going to HOLD");
// change mode to hold and disarm
set_mode(mode_hold, MODE_REASON_CRASH_FAILSAFE);
if (g.fs_crash_check == FS_CRASH_HOLD_AND_DISARM) {
disarm_motors();
}
}
}
}
void Rover::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
hal.console->printf("Bad var table\n");
AP_HAL::panic("Bad var table");
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
hal.console->printf("Firmware change: erasing EEPROM...\n");
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
hal.console->printf("done.\n");
}
const uint32_t before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_ROVER);
SRV_Channels::set_default_function(CH_1, SRV_Channel::k_steering);
SRV_Channels::set_default_function(CH_3, SRV_Channel::k_throttle);
if (is_balancebot()) {
g2.crash_angle.set_default(30);
}
const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old, Parameters::k_param_rc_2_old,
Parameters::k_param_rc_3_old, Parameters::k_param_rc_4_old,
Parameters::k_param_rc_5_old, Parameters::k_param_rc_6_old,
Parameters::k_param_rc_7_old, Parameters::k_param_rc_8_old,
Parameters::k_param_rc_9_old, Parameters::k_param_rc_10_old,
Parameters::k_param_rc_11_old, Parameters::k_param_rc_12_old,
Parameters::k_param_rc_13_old, Parameters::k_param_rc_14_old };
const uint16_t old_aux_chan_mask = 0x3FFA;
SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, &rcmap);
hal.console->printf("load_all took %uus\n", unsigned(micros() - before));
// set a more reasonable default NAVL1_PERIOD for rovers
L1_controller.set_default_period(NAVL1_PERIOD);
// configure safety switch to allow stopping the motors while armed
#if AP_FEATURE_SAFETY_BUTTON
AP_Param::set_default_by_name("BRD_SAFETYOPTION", AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|
AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON|
AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED);
#endif
}
// Write an attitude packet
void Rover::Log_Write_Attitude()
{
float desired_pitch_cd = degrees(g2.attitude_control.get_desired_pitch()) * 100.0f;
const Vector3f targets(0.0f, desired_pitch_cd, 0.0f);
DataFlash.Log_Write_Attitude(ahrs, targets);
#if AP_AHRS_NAVEKF_AVAILABLE
DataFlash.Log_Write_EKF(ahrs);
DataFlash.Log_Write_AHRS2(ahrs);
#endif
DataFlash.Log_Write_POS(ahrs);
// log steering rate controller
DataFlash.Log_Write_PID(LOG_PIDS_MSG, g2.attitude_control.get_steering_rate_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDA_MSG, g2.attitude_control.get_throttle_speed_pid().get_pid_info());
// log pitch control for balance bots
if (is_balancebot()) {
DataFlash.Log_Write_PID(LOG_PIDP_MSG, g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info());
}
}
void Rover::load_parameters(void)
{
if (!AP_Param::check_var_info()) {
hal.console->printf("Bad var table\n");
AP_HAL::panic("Bad var table");
}
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
// erase all parameters
hal.console->printf("Firmware change: erasing EEPROM...\n");
StorageManager::erase();
AP_Param::erase_all();
// save the current format version
g.format_version.set_and_save(Parameters::k_format_version);
hal.console->printf("done.\n");
}
const uint32_t before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_ROVER);
SRV_Channels::set_default_function(CH_1, SRV_Channel::k_steering);
SRV_Channels::set_default_function(CH_3, SRV_Channel::k_throttle);
if (is_balancebot()) {
g2.crash_angle.set_default(30);
}
// sailboat defaults
if (g2.motors.has_sail()) {
g2.crash_angle.set_default(0);
g2.loit_type.set_default(1);
g2.loit_radius.set_default(5);
g.waypoint_overshoot.set_default(10);
}
const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old, Parameters::k_param_rc_2_old,
Parameters::k_param_rc_3_old, Parameters::k_param_rc_4_old,
Parameters::k_param_rc_5_old, Parameters::k_param_rc_6_old,
Parameters::k_param_rc_7_old, Parameters::k_param_rc_8_old,
Parameters::k_param_rc_9_old, Parameters::k_param_rc_10_old,
Parameters::k_param_rc_11_old, Parameters::k_param_rc_12_old,
Parameters::k_param_rc_13_old, Parameters::k_param_rc_14_old };
const uint16_t old_aux_chan_mask = 0x3FFA;
SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, &rcmap);
hal.console->printf("load_all took %uus\n", unsigned(micros() - before));
// set a more reasonable default NAVL1_PERIOD for rovers
L1_controller.set_default_period(NAVL1_PERIOD);
// convert CH7_OPTION to RC7_OPTION for Rover-3.4 to 3.5 upgrade
const AP_Param::ConversionInfo ch7_option_info = { Parameters::k_param_ch7_option, 0, AP_PARAM_INT8, "RC7_OPTION" };
AP_Int8 ch7_opt_old;
if (AP_Param::find_old_parameter(&ch7_option_info, &ch7_opt_old)) {
const uint8_t ch7_opt_map[] = {0,7,50,41,51,52,53,54,16,4,42,55,56};
const uint8_t ch7_opt_old_val = (uint8_t)ch7_opt_old.get();
if (ch7_opt_old_val < ARRAY_SIZE(ch7_opt_map)) {
AP_Param::set_default_by_name(ch7_option_info.new_name, ch7_opt_map[ch7_opt_old_val]);
}
}
// configure safety switch to allow stopping the motors while armed
#if HAL_HAVE_SAFETY_SWITCH
AP_Param::set_default_by_name("BRD_SAFETYOPTION", AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|
AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON|
AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED);
#endif
}