Пример #1
0
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);
        }
    }
}
Пример #2
0
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);
        }
    }
}
Пример #3
0
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);
}