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failsafe.c
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failsafe.c
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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "build/debug.h"
#include "common/axis.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
#include "drivers/time.h"
#include "config/config.h"
#include "fc/core.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "flight/failsafe.h"
#include "io/beeper.h"
#include "io/motors.h"
#include "rx/rx.h"
#include "flight/pid.h"
/*
* Usage:
*
* failsafeInit() and failsafeReset() must be called before the other methods are used.
*
* failsafeInit() and failsafeReset() can be called in any order.
* failsafeInit() should only be called once.
*
* enable() should be called after system initialisation.
*/
static failsafeState_t failsafeState;
PG_REGISTER_WITH_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 2);
PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
.failsafe_throttle = 1000, // default throttle off.
.failsafe_throttle_low_delay = 100, // default throttle low delay for "just disarm" on failsafe condition
.failsafe_delay = 4, // 0,4sec
.failsafe_off_delay = 10, // 1sec
.failsafe_switch_mode = 0, // default failsafe switch action is identical to rc link loss
.failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT,// default full failsafe procedure is 0: auto-landing
.failsafe_recovery_delay = 20, // 2 sec of valid rx data (plus 200ms) needed to allow recovering from failsafe procedure
.failsafe_stick_threshold = 30 // 30 percent of stick deflection to exit GPS Rescue procedure
);
const char * const failsafeProcedureNames[FAILSAFE_PROCEDURE_COUNT] = {
"AUTO-LAND",
"DROP",
#ifdef USE_GPS_RESCUE
"GPS-RESCUE",
#endif
};
/*
* Should called when the failsafe config needs to be changed - e.g. a different profile has been selected.
*/
void failsafeReset(void)
{
failsafeState.rxDataFailurePeriod = PERIOD_RXDATA_FAILURE + failsafeConfig()->failsafe_delay * MILLIS_PER_TENTH_SECOND;
failsafeState.rxDataRecoveryPeriod = PERIOD_RXDATA_RECOVERY + failsafeConfig()->failsafe_recovery_delay * MILLIS_PER_TENTH_SECOND;
failsafeState.validRxDataReceivedAt = 0;
failsafeState.validRxDataFailedAt = 0;
failsafeState.throttleLowPeriod = 0;
failsafeState.landingShouldBeFinishedAt = 0;
failsafeState.receivingRxDataPeriod = 0;
failsafeState.receivingRxDataPeriodPreset = 0;
failsafeState.phase = FAILSAFE_IDLE;
failsafeState.rxLinkState = FAILSAFE_RXLINK_DOWN;
}
void failsafeInit(void)
{
failsafeState.events = 0;
failsafeState.monitoring = false;
return;
}
failsafePhase_e failsafePhase(void)
{
return failsafeState.phase;
}
bool failsafeIsMonitoring(void)
{
return failsafeState.monitoring;
}
bool failsafeIsActive(void)
{
return failsafeState.active;
}
void failsafeStartMonitoring(void)
{
failsafeState.monitoring = true;
}
static bool failsafeShouldHaveCausedLandingByNow(void)
{
return (millis() > failsafeState.landingShouldBeFinishedAt);
}
static void failsafeActivate(void)
{
failsafeState.active = true;
failsafeState.phase = FAILSAFE_LANDING;
ENABLE_FLIGHT_MODE(FAILSAFE_MODE);
failsafeState.landingShouldBeFinishedAt = millis() + failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND;
failsafeState.events++;
}
static void failsafeApplyControlInput(void)
{
#ifdef USE_GPS_RESCUE
if (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE) {
ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
return;
}
#endif
for (int i = 0; i < 3; i++) {
rcData[i] = rxConfig()->midrc;
}
rcData[THROTTLE] = failsafeConfig()->failsafe_throttle;
}
bool failsafeIsReceivingRxData(void)
{
return (failsafeState.rxLinkState == FAILSAFE_RXLINK_UP);
}
void failsafeOnRxSuspend(uint32_t usSuspendPeriod)
{
failsafeState.validRxDataReceivedAt += (usSuspendPeriod / 1000); // / 1000 to convert micros to millis
}
void failsafeOnRxResume(void)
{
failsafeState.validRxDataReceivedAt = millis(); // prevent RX link down trigger, restart rx link up
failsafeState.rxLinkState = FAILSAFE_RXLINK_UP; // do so while rx link is up
}
void failsafeOnValidDataReceived(void)
{
failsafeState.validRxDataReceivedAt = millis();
if ((failsafeState.validRxDataReceivedAt - failsafeState.validRxDataFailedAt) > failsafeState.rxDataRecoveryPeriod) {
failsafeState.rxLinkState = FAILSAFE_RXLINK_UP;
unsetArmingDisabled(ARMING_DISABLED_RX_FAILSAFE);
}
}
void failsafeOnValidDataFailed(void)
{
setArmingDisabled(ARMING_DISABLED_RX_FAILSAFE); // To prevent arming with no RX link
failsafeState.validRxDataFailedAt = millis();
if ((failsafeState.validRxDataFailedAt - failsafeState.validRxDataReceivedAt) > failsafeState.rxDataFailurePeriod) {
failsafeState.rxLinkState = FAILSAFE_RXLINK_DOWN;
}
}
void failsafeUpdateState(void)
{
if (!failsafeIsMonitoring()) {
return;
}
bool receivingRxData = failsafeIsReceivingRxData();
bool armed = ARMING_FLAG(ARMED);
bool failsafeSwitchIsOn = IS_RC_MODE_ACTIVE(BOXFAILSAFE);
beeperMode_e beeperMode = BEEPER_SILENCE;
if (failsafeSwitchIsOn && failsafeConfig()->failsafe_switch_mode == FAILSAFE_SWITCH_MODE_STAGE2) {
receivingRxData = false; // force Stage2
}
// Beep RX lost only if we are not seeing data and we have been armed earlier
if (!receivingRxData && (armed || ARMING_FLAG(WAS_EVER_ARMED))) {
beeperMode = BEEPER_RX_LOST;
}
bool reprocessState;
do {
reprocessState = false;
switch (failsafeState.phase) {
case FAILSAFE_IDLE:
if (armed) {
// Track throttle command below minimum time
if (THROTTLE_HIGH == calculateThrottleStatus()) {
failsafeState.throttleLowPeriod = millis() + failsafeConfig()->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
}
// Kill switch logic (must be independent of receivingRxData to skip PERIOD_RXDATA_FAILURE delay before disarming)
if (failsafeSwitchIsOn && failsafeConfig()->failsafe_switch_mode == FAILSAFE_SWITCH_MODE_KILL) {
// KillswitchEvent: failsafe switch is configured as KILL switch and is switched ON
failsafeActivate();
failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_1_SECONDS; // require 1 seconds of valid rxData
reprocessState = true;
} else if (!receivingRxData) {
if (millis() > failsafeState.throttleLowPeriod
#ifdef USE_GPS_RESCUE
&& failsafeConfig()->failsafe_procedure != FAILSAFE_PROCEDURE_GPS_RESCUE
#endif
) {
// JustDisarm: throttle was LOW for at least 'failsafe_throttle_low_delay' seconds
failsafeActivate();
failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS; // require 3 seconds of valid rxData
} else {
failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED;
}
reprocessState = true;
}
} else {
// When NOT armed, show rxLinkState of failsafe switch in GUI (failsafe mode)
if (failsafeSwitchIsOn) {
ENABLE_FLIGHT_MODE(FAILSAFE_MODE);
} else {
DISABLE_FLIGHT_MODE(FAILSAFE_MODE);
}
// Throttle low period expired (= low long enough for JustDisarm)
failsafeState.throttleLowPeriod = 0;
}
break;
case FAILSAFE_RX_LOSS_DETECTED:
if (receivingRxData) {
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
} else {
switch (failsafeConfig()->failsafe_procedure) {
case FAILSAFE_PROCEDURE_AUTO_LANDING:
// Stabilize, and set Throttle to specified level
failsafeActivate();
break;
case FAILSAFE_PROCEDURE_DROP_IT:
// Drop the craft
failsafeActivate();
failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure
break;
#ifdef USE_GPS_RESCUE
case FAILSAFE_PROCEDURE_GPS_RESCUE:
failsafeActivate();
failsafeState.phase = FAILSAFE_GPS_RESCUE;
break;
#endif
}
}
reprocessState = true;
break;
case FAILSAFE_LANDING:
if (receivingRxData) {
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
reprocessState = true;
}
if (armed) {
failsafeApplyControlInput();
beeperMode = BEEPER_RX_LOST_LANDING;
}
if (failsafeShouldHaveCausedLandingByNow() || crashRecoveryModeActive() || !armed) {
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_30_SECONDS; // require 30 seconds of valid rxData
failsafeState.phase = FAILSAFE_LANDED;
reprocessState = true;
}
break;
#ifdef USE_GPS_RESCUE
case FAILSAFE_GPS_RESCUE:
if (receivingRxData) {
if (areSticksActive(failsafeConfig()->failsafe_stick_threshold)) {
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
reprocessState = true;
}
}
if (armed) {
failsafeApplyControlInput();
beeperMode = BEEPER_RX_LOST_LANDING;
} else {
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_30_SECONDS; // require 30 seconds of valid rxData
failsafeState.phase = FAILSAFE_LANDED;
reprocessState = true;
}
break;
#endif
case FAILSAFE_LANDED:
setArmingDisabled(ARMING_DISABLED_FAILSAFE); // To prevent accidently rearming by an intermittent rx link
disarm();
failsafeState.receivingRxDataPeriod = millis() + failsafeState.receivingRxDataPeriodPreset; // set required period of valid rxData
failsafeState.phase = FAILSAFE_RX_LOSS_MONITORING;
reprocessState = true;
break;
case FAILSAFE_RX_LOSS_MONITORING:
// Monitoring the rx link to allow rearming when it has become good for > `receivingRxDataPeriodPreset` time.
if (receivingRxData) {
if (millis() > failsafeState.receivingRxDataPeriod) {
// rx link is good now, when arming via ARM switch, it must be OFF first
if (!(!isUsingSticksForArming() && IS_RC_MODE_ACTIVE(BOXARM))) {
unsetArmingDisabled(ARMING_DISABLED_FAILSAFE);
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
reprocessState = true;
}
}
} else {
failsafeState.receivingRxDataPeriod = millis() + failsafeState.receivingRxDataPeriodPreset;
}
break;
case FAILSAFE_RX_LOSS_RECOVERED:
// Entering IDLE with the requirement that throttle first must be at min_check for failsafe_throttle_low_delay period.
// This is to prevent that JustDisarm is activated on the next iteration.
// Because that would have the effect of shutting down failsafe handling on intermittent connections.
failsafeState.throttleLowPeriod = millis() + failsafeConfig()->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
failsafeState.phase = FAILSAFE_IDLE;
failsafeState.active = false;
DISABLE_FLIGHT_MODE(FAILSAFE_MODE);
reprocessState = true;
break;
default:
break;
}
} while (reprocessState);
if (beeperMode != BEEPER_SILENCE) {
beeper(beeperMode);
}
}