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| Rev 2058 | Rev 2059 | ||
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| Line 5... | Line 5... | ||
| 5 | #include "flight.h" |
5 | #include "flight.h" |
| 6 | #include "output.h" |
6 | #include "output.h" |
| Line 7... | Line 7... | ||
| 7 | 7 | ||
| Line 8... | Line -... | ||
| 8 | uint16_t emergencyFlightTime; |
- | |
| 9 | - | ||
| 10 | void setFailsafeFlightParameters(void) { |
- | |
| 11 | flight_setParameters(0, 90, 120, 90, 120); |
- | |
| 12 | } |
- | |
| 13 | - | ||
| 14 | void setNormalFlightParameters(void) { |
- | |
| 15 | flight_setParameters(staticParams.IFactor, dynamicParams.gyroP, |
- | |
| 16 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
- | |
| 17 | dynamicParams.gyroP, staticParams.yawIFactor); |
- | |
| 18 | } |
8 | uint16_t emergencyFlightTime; |
| 19 | 9 | ||
| 20 | void FC_setNeutral(void) { |
10 | void FC_setNeutral(void) { |
| Line 21... | Line 11... | ||
| 21 | setNormalFlightParameters(); |
11 | configuration_setNormalFlightParameters(); |
| - | 12 | } |
|
| - | 13 | ||
| - | 14 | void FC_periodicTaskAndPRTY(uint16_t* PRTY) { |
|
| 22 | } |
15 | |
| 23 | 16 | debugOut.analog[25] = emergencyFlightTime; |
|
| 24 | void FC_periodicTaskAndPRTY(uint16_t* PRTY) { |
17 | |
| Line 25... | Line 18... | ||
| 25 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
18 | if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
| 26 | if (controlMixer_didReceiveSignal) |
19 | if (controlMixer_didReceiveSignal) |
| 27 | beepRCAlarm(); // Only make alarm if a control signal was received before the signal loss. |
20 | beepRCAlarm(); // Only make alarm if a control signal was received before the signal loss. |
| 28 | 21 | ||
| 29 | // There are the possibilities: We are not yet in emergency flight, we are already in emergency flight. |
22 | // There are the possibilities: We are not yet in emergency flight, we are already in emergency flight. |
| 30 | if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
23 | if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
| 31 | if (isFlying > 256) { |
24 | if (isFlying > 256) { |
| 32 | MKFlags |= MKFLAG_EMERGENCY_FLIGHT; // Set flag for emergency landing |
25 | MKFlags |= MKFLAG_EMERGENCY_FLIGHT; // Set flag for emergency landing |
| 33 | setFailsafeFlightParameters(); |
26 | configuration_setFailsafeFlightParameters(); |
| 34 | // Set the time in whole seconds. |
27 | // Set the time in whole seconds. |
| 35 | if (staticParams.emergencyFlightDuration > (65535 - F_MAINLOOP) / F_MAINLOOP) |
28 | if (staticParams.emergencyFlightDuration > (65535 - (uint16_t)F_MAINLOOP) / (uint16_t)F_MAINLOOP) |
| 36 | emergencyFlightTime = 0xffff; |
29 | emergencyFlightTime = 0xffff; |
| 37 | else |
30 | else |
| 38 | emergencyFlightTime = (uint16_t) staticParams.emergencyFlightDuration * F_MAINLOOP; |
31 | emergencyFlightTime = (uint16_t)staticParams.emergencyFlightDuration * (uint16_t)F_MAINLOOP; |
| 39 | } |
32 | } |
| Line 51... | Line 44... | ||
| 51 | PRTY[CONTROL_PITCH] = PRTY[CONTROL_ROLL] = PRTY[CONTROL_YAW] = 0; |
44 | PRTY[CONTROL_PITCH] = PRTY[CONTROL_ROLL] = PRTY[CONTROL_YAW] = 0; |
| 52 | } else { |
45 | } else { |
| 53 | // Signal is OK. |
46 | // Signal is OK. |
| 54 | if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
47 | if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
| 55 | MKFlags &= ~MKFLAG_EMERGENCY_FLIGHT; // Clear flag for emergency landing |
48 | MKFlags &= ~MKFLAG_EMERGENCY_FLIGHT; // Clear flag for emergency landing |
| 56 | setNormalFlightParameters(); |
49 | configuration_setNormalFlightParameters(); |
| 57 | } |
50 | } |
| 58 | } |
51 | } |
| Line 59... | Line 52... | ||
| 59 | 52 | ||
| 60 | /* |
53 | /* |