Rev 2056 | Rev 2059 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2056 | - | 1 | #include "controlMixer.h" |
| 2 | #include "timer0.h" |
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| 3 | #include "configuration.h" |
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| 4 | #include "twimaster.h" |
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| 5 | #include "flight.h" |
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| 6 | #include "output.h" |
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| 7 | |||
| 8 | uint16_t emergencyFlightTime; |
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| 9 | |||
| 10 | void setFailsafeFlightParameters(void) { |
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| 11 | flight_setParameters(0, 90, 120, 90, 120); |
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| 12 | } |
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| 13 | |||
| 14 | void setNormalFlightParameters(void) { |
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| 15 | flight_setParameters(staticParams.IFactor, dynamicParams.gyroP, |
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| 16 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
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| 17 | dynamicParams.gyroP, staticParams.yawIFactor); |
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| 18 | } |
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| 19 | |||
| 20 | void FC_setNeutral(void) { |
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| 21 | setNormalFlightParameters(); |
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| 22 | } |
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| 23 | |||
| 24 | void FC_periodicTaskAndPRTY(uint16_t* PRTY) { |
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| 25 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
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| 26 | if (controlMixer_didReceiveSignal) |
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| 27 | beepRCAlarm(); // Only make alarm if a control signal was received before the signal loss. |
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| 28 | |||
| 29 | // There are the possibilities: We are not yet in emergency flight, we are already in emergency flight. |
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| 30 | if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
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| 31 | if (isFlying > 256) { |
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| 32 | MKFlags |= MKFLAG_EMERGENCY_FLIGHT; // Set flag for emergency landing |
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| 33 | setFailsafeFlightParameters(); |
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| 34 | // Set the time in whole seconds. |
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| 35 | if (staticParams.emergencyFlightDuration > (65535 - F_MAINLOOP) / F_MAINLOOP) |
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| 36 | emergencyFlightTime = 0xffff; |
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| 37 | else |
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| 38 | emergencyFlightTime = (uint16_t) staticParams.emergencyFlightDuration * F_MAINLOOP; |
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| 39 | } |
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| 40 | } else { |
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| 41 | if (emergencyFlightTime) { |
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| 42 | emergencyFlightTime--; |
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| 43 | } else { |
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| 44 | // stop motors but stay in emergency flight. |
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| 45 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
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| 46 | } |
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| 47 | } |
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| 48 | |||
| 2058 | - | 49 | // In either case, use e. throttle and neutral controls. TODO: If there is supposed to be a navi come-home, this should affect RC control only and not navi. |
| 2056 | - | 50 | PRTY[CONTROL_THROTTLE] = staticParams.emergencyThrottle; // Set emergency throttle |
| 2058 | - | 51 | PRTY[CONTROL_PITCH] = PRTY[CONTROL_ROLL] = PRTY[CONTROL_YAW] = 0; |
| 2056 | - | 52 | } else { |
| 53 | // Signal is OK. |
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| 54 | if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
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| 55 | MKFlags &= ~MKFLAG_EMERGENCY_FLIGHT; // Clear flag for emergency landing |
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| 56 | setNormalFlightParameters(); |
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| 57 | } |
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| 58 | } |
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| 59 | |||
| 60 | /* |
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| 61 | * If a Bl-Ctrl is missing, prevent takeoff. |
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| 62 | */ |
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| 63 | if (missingMotor) { |
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| 64 | // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
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| 65 | if (isFlying > 1 && isFlying < 50 && PRTY[CONTROL_THROTTLE] > 0) isFlying = 1; // keep within lift off condition |
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| 66 | PRTY[CONTROL_THROTTLE] = staticParams.minThrottle; // reduce throttle to min to prevent takeoff |
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| 67 | } |
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| 68 | } |