src/main/flight/failsafe.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "pg/pg.h"
  24
  25 #define FAILSAFE_POWER_ON_DELAY_US (1000 * 1000 * 5)
  26 #define MILLIS_PER_TENTH_SECOND      100
  27 #define MILLIS_PER_SECOND           1000
  28 #define PERIOD_OF_1_SECONDS            1 * MILLIS_PER_SECOND
  29 #define PERIOD_OF_3_SECONDS            3 * MILLIS_PER_SECOND
  30 #define PERIOD_OF_30_SECONDS          30 * MILLIS_PER_SECOND
  31 #define PERIOD_RXDATA_FAILURE        10     // millis
  32 #define PERIOD_RXDATA_RECOVERY       200    // millis
  33
  34 typedef struct failsafeConfig_s {
  35     uint16_t failsafe_throttle;             // Throttle level used for landing - specify value between 1000..2000 (pwm pulse width for slightly below hover). center throttle = 1500.
  36     uint16_t failsafe_throttle_low_delay;   // Time throttle stick must have been below 'min_check' to "JustDisarm" instead of "full failsafe procedure".
  37     uint8_t failsafe_delay;                 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
  38     uint8_t failsafe_off_delay;             // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200)
  39     uint8_t failsafe_switch_mode;           // failsafe switch action is 0: Stage 1, 1: Disarms instantly, 2: Stage 2
  40     uint8_t failsafe_procedure;             // selected full failsafe procedure is 0: auto-landing, 1: Drop it
  41     uint16_t failsafe_recovery_delay;       // Time (in 0.1sec) of valid rx data (min 200ms PERIOD_RXDATA_RECOVERY) to allow recovering from failsafe procedure
  42     uint8_t failsafe_stick_threshold;       // Stick deflection percentage to exit GPS Rescue procedure
  43 } failsafeConfig_t;
  44
  45 PG_DECLARE(failsafeConfig_t, failsafeConfig);
  46
  47 typedef enum {
  48     FAILSAFE_IDLE = 0,
  49     FAILSAFE_RX_LOSS_DETECTED,
  50     FAILSAFE_LANDING,
  51     FAILSAFE_LANDED,
  52     FAILSAFE_RX_LOSS_MONITORING,
  53     FAILSAFE_RX_LOSS_RECOVERED,
  54     FAILSAFE_GPS_RESCUE
  55 } failsafePhase_e;
  56
  57 typedef enum {
  58     FAILSAFE_RXLINK_DOWN = 0,
  59     FAILSAFE_RXLINK_UP
  60 } failsafeRxLinkState_e;
  61
  62 typedef enum {
  63     FAILSAFE_PROCEDURE_AUTO_LANDING = 0,
  64     FAILSAFE_PROCEDURE_DROP_IT,
  65 #ifdef USE_GPS_RESCUE
  66     FAILSAFE_PROCEDURE_GPS_RESCUE,
  67 #endif
  68     FAILSAFE_PROCEDURE_COUNT   // must be last
  69 } failsafeProcedure_e;
  70
  71 extern const char * const failsafeProcedureNames[FAILSAFE_PROCEDURE_COUNT];
  72
  73 typedef enum {
  74     FAILSAFE_SWITCH_MODE_STAGE1 = 0,
  75     FAILSAFE_SWITCH_MODE_KILL,
  76     FAILSAFE_SWITCH_MODE_STAGE2
  77 } failsafeSwitchMode_e;
  78
  79 typedef struct failsafeState_s {
  80     int16_t events;
  81     bool monitoring;
  82     bool active;
  83     uint32_t rxDataFailurePeriod;
  84     uint32_t rxDataRecoveryPeriod;
  85     uint32_t validRxDataReceivedAt;
  86     uint32_t validRxDataFailedAt;
  87     uint32_t throttleLowPeriod;             // throttle stick must have been below 'min_check' for this period
  88     uint32_t landingShouldBeFinishedAt;
  89     uint32_t receivingRxDataPeriod;         // period for the required period of valid rxData
  90     uint32_t receivingRxDataPeriodPreset;   // preset for the required period of valid rxData
  91     failsafePhase_e phase;
  92     failsafeRxLinkState_e rxLinkState;
  93 } failsafeState_t;
  94
  95 void failsafeInit(void);
  96 void failsafeReset(void);
  97
  98 void failsafeStartMonitoring(void);
  99 void failsafeUpdateState(void);
 100
 101 failsafePhase_e failsafePhase(void);
 102 bool failsafeIsMonitoring(void);
 103 bool failsafeIsActive(void);
 104 bool failsafeIsReceivingRxData(void);
 105 void failsafeCheckDataFailurePeriod(void);
 106 void failsafeOnRxSuspend(uint32_t suspendPeriod);
 107 void failsafeOnRxResume(void);
 108 void failsafeOnValidDataReceived(void);
 109 void failsafeOnValidDataFailed(void);