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Better, platform independent failsafe handling

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Lorenz Meier
2012-11-09 16:30:00 +01:00
parent a866fb2f2c
commit 0baca3ee31
2 changed files with 20 additions and 7 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+18 -2
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@@ -184,7 +184,13 @@ mc_thread_main(int argc, char *argv[])
rates_sp.roll = offboard_sp.p1;
rates_sp.pitch = offboard_sp.p2;
rates_sp.yaw = offboard_sp.p3;
rates_sp.thrust = offboard_sp.p4;
if (state.offboard_control_signal_lost) {
/* give up in rate mode on signal loss */
rates_sp.thrust = 0.0f;
} else {
/* no signal loss, normal throttle */
rates_sp.thrust = offboard_sp.p4;
}
// printf("thrust_rate=%8.4f\n",offboard_sp.p4);
rates_sp.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
@@ -192,7 +198,17 @@ mc_thread_main(int argc, char *argv[])
att_sp.roll_body = offboard_sp.p1;
att_sp.pitch_body = offboard_sp.p2;
att_sp.yaw_body = offboard_sp.p3;
att_sp.thrust = offboard_sp.p4;
/* check if control signal is lost */
if (state.offboard_control_signal_lost) {
/* set failsafe thrust */
param_get(failsafe_throttle_handle, &failsafe_throttle);
att_sp.thrust = (failsafe_throttle < 0.6f) : failsafe_throttle ? 0.5f;
} else {
/* no signal loss, normal throttle */
att_sp.thrust = offboard_sp.p4;
}
// printf("thrust_att=%8.4f\n",offboard_sp.p4);
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */