| 0,0 → 1,55 |
|---|
| #include "controlMixer.h" |
| #include "timer0.h" |
| #include "configuration.h" |
| #include "flight.h" |
| #include "output.h" |
| |
| uint16_t emergencyFlightTime; |
| |
| void FC_periodicTaskAndPRTY(uint16_t* PRTY) { |
| |
| debugOut.analog[25] = emergencyFlightTime; |
| |
| // debugOut.analog[30] = controlMixer_getSignalQuality(); |
| |
| if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
| if (controlMixer_didReceiveSignal) |
| beepRCAlarm(); // Only make alarm if a control signal was received before the signal loss. |
| |
| // There are the possibilities: We are not yet in emergency flight, we are already in emergency flight. |
| if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
| if (isFlying > 256) { |
| MKFlags |= MKFLAG_EMERGENCY_FLIGHT; // Set flag for emergency landing |
| // configuration_setFailsafeFlightParameters(); |
| // Set the time in whole seconds. |
| if (staticParams.emergencyFlightDuration |
| > (65535 - (uint16_t)F_MAINLOOP) / (uint16_t)F_MAINLOOP) |
| emergencyFlightTime = 0xffff; |
| else |
| emergencyFlightTime = (uint16_t) staticParams.emergencyFlightDuration |
| * (uint16_t)F_MAINLOOP; |
| } |
| } else { |
| if (emergencyFlightTime) { |
| emergencyFlightTime--; |
| } else { |
| // stop motors but stay in emergency flight. |
| MKFlags &= ~(MKFLAG_MOTOR_RUN); |
| } |
| } |
| |
| // 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. |
| PRTY[CONTROL_THROTTLE] = staticParams.emergencyThrottle; // Set emergency throttle |
| PRTY[CONTROL_ELEVATOR] = PRTY[CONTROL_AILERONS] = PRTY[CONTROL_RUDDER] = 0; |
| } else { |
| // Signal is OK. |
| if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
| MKFlags &= ~MKFLAG_EMERGENCY_FLIGHT; // Clear flag for emergency landing |
| // configuration_setNormalFlightParameters(); |
| } |
| } |
| } |
| |
| |
| void FC_setNeutral() { |
| } |