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Code Issues Releases Activity

Fix RTH mode. Now works in simulation when GCSReceiver goes invalid.

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There is a small issue that when it is in RTH failsafe mode and you regain
signal and your throttle is low you will disarm due to the timeout.  That
means you'd suddenly get it back and plumet ouf of the sky.  If you are
still holding throttle (which most people might do?) you will have control.

The timeout needs to probably start when you regain signal.
This commit is contained in:
James Cotton 2012-06-04 10:21:01 -05:00
parent 9f93c9cbec
commit b11b606ddc
1 changed files with 18 additions and 3 deletions
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21
flight/Modules/ManualControl/manualcontrol.c
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@ -363,14 +363,24 @@ static void manualControlTask(void *parameters)
}
processFlightMode(&settings, flightMode);
}
if (processFailsafe(valid_input_detected, &settings) == false) {
if (processFailsafe(cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_TRUE, &settings) == false) {
// Process arming outside conditional so system will disarm when disconnected. However don't do
// it when in failsafe mode
// Only update the flight mode when we got valid data
if (cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_TRUE)
processFlightMode(&settings, flightMode);
// However process arming all the time so it can time out
processArm(&cmd, &settings);
} else {
// In the case of failsafe don't process the channels to update the flight mode
ManualControlCommandSet(&cmd);
continue;
}
// Update cmd object
@ -641,6 +651,11 @@ static void setRTH(bool changed)
}
}
/**
* Determine based on flight settings if we should enter failsafe when there is no valid input
* it returns true when the failsafe is engaged and the informs the rest of the system not to
* use the inputs
*/
static bool processFailsafe(bool valid_input_detected, ManualControlSettingsData *settings)
{
static bool failsafe_enaged = false;
@ -666,9 +681,9 @@ static bool processFailsafe(bool valid_input_detected, ManualControlSettingsData
// exclude fixed wing.
if (guidanceSettings.ThrottleControl == GUIDANCESETTINGS_THROTTLECONTROL_TRUE &&
flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) {
setRTH(true);
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_RTH;
FlightStatusSet(&flightStatus);
failsafe_enaged = true;
}
}