Rev 2058 | Rev 2069 | 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 | |||
| 2059 | - | 10 | void FC_setNeutral(void) { |
| 11 | configuration_setNormalFlightParameters(); |
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| 2056 | - | 12 | } |
| 13 | |||
| 2059 | - | 14 | void FC_periodicTaskAndPRTY(uint16_t* PRTY) { |
| 2056 | - | 15 | |
| 2059 | - | 16 | debugOut.analog[25] = emergencyFlightTime; |
| 2056 | - | 17 | |
| 18 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
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| 19 | if (controlMixer_didReceiveSignal) |
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| 20 | beepRCAlarm(); // Only make alarm if a control signal was received before the signal loss. |
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| 21 | |||
| 22 | // There are the possibilities: We are not yet in emergency flight, we are already in emergency flight. |
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| 23 | if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
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| 24 | if (isFlying > 256) { |
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| 25 | MKFlags |= MKFLAG_EMERGENCY_FLIGHT; // Set flag for emergency landing |
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| 2059 | - | 26 | configuration_setFailsafeFlightParameters(); |
| 2056 | - | 27 | // Set the time in whole seconds. |
| 2059 | - | 28 | if (staticParams.emergencyFlightDuration > (65535 - (uint16_t)F_MAINLOOP) / (uint16_t)F_MAINLOOP) |
| 2056 | - | 29 | emergencyFlightTime = 0xffff; |
| 30 | else |
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| 2059 | - | 31 | emergencyFlightTime = (uint16_t)staticParams.emergencyFlightDuration * (uint16_t)F_MAINLOOP; |
| 2056 | - | 32 | } |
| 33 | } else { |
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| 34 | if (emergencyFlightTime) { |
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| 35 | emergencyFlightTime--; |
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| 36 | } else { |
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| 37 | // stop motors but stay in emergency flight. |
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| 38 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
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| 39 | } |
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| 40 | } |
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| 41 | |||
| 2058 | - | 42 | // 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 | - | 43 | PRTY[CONTROL_THROTTLE] = staticParams.emergencyThrottle; // Set emergency throttle |
| 2058 | - | 44 | PRTY[CONTROL_PITCH] = PRTY[CONTROL_ROLL] = PRTY[CONTROL_YAW] = 0; |
| 2056 | - | 45 | } else { |
| 46 | // Signal is OK. |
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| 47 | if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
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| 48 | MKFlags &= ~MKFLAG_EMERGENCY_FLIGHT; // Clear flag for emergency landing |
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| 2059 | - | 49 | configuration_setNormalFlightParameters(); |
| 2056 | - | 50 | } |
| 51 | } |
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| 52 | |||
| 53 | /* |
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| 54 | * If a Bl-Ctrl is missing, prevent takeoff. |
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| 55 | */ |
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| 56 | if (missingMotor) { |
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| 57 | // if we are in the lift off condition. Hmmmmmm when is throttleTerm == 0 anyway??? |
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| 58 | if (isFlying > 1 && isFlying < 50 && PRTY[CONTROL_THROTTLE] > 0) isFlying = 1; // keep within lift off condition |
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| 59 | PRTY[CONTROL_THROTTLE] = staticParams.minThrottle; // reduce throttle to min to prevent takeoff |
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| 60 | } |
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| 61 | } |