src/main/flight/failsafe.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #define FAILSAFE_POWER_ON_DELAY_US (1000 * 1000 * 5)
  21 #define MILLIS_PER_TENTH_SECOND      100
  22 #define MILLIS_PER_SECOND           1000
  23 #define PERIOD_OF_1_SECONDS            1 * MILLIS_PER_SECOND
  24 #define PERIOD_OF_3_SECONDS            3 * MILLIS_PER_SECOND
  25 #define PERIOD_OF_30_SECONDS          30 * MILLIS_PER_SECOND
  26 #define PERIOD_RXDATA_FAILURE        200    // millis
  27 #define PERIOD_RXDATA_RECOVERY       200    // millis
  28
  29
  30 typedef struct failsafeConfig_s {
  31     uint8_t failsafe_delay;                 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
  32     uint8_t failsafe_off_delay;             // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200)
  33     uint16_t failsafe_throttle;             // Throttle level used for landing - specify value between 1000..2000 (pwm pulse width for slightly below hover). center throttle = 1500.
  34     uint8_t failsafe_kill_switch;           // failsafe switch action is 0: identical to rc link loss, 1: disarms instantly
  35     uint16_t failsafe_throttle_low_delay;   // Time throttle stick must have been below 'min_check' to "JustDisarm" instead of "full failsafe procedure".
  36 } failsafeConfig_t;
  37
  38 typedef enum {
  39     FAILSAFE_IDLE = 0,
  40     FAILSAFE_RX_LOSS_DETECTED,
  41     FAILSAFE_LANDING,
  42     FAILSAFE_LANDED,
  43     FAILSAFE_RX_LOSS_MONITORING,
  44     FAILSAFE_RX_LOSS_RECOVERED
  45 } failsafePhase_e;
  46
  47 typedef enum {
  48     FAILSAFE_RXLINK_DOWN = 0,
  49     FAILSAFE_RXLINK_UP
  50 } failsafeRxLinkState_e;
  51
  52 typedef struct failsafeState_s {
  53     int16_t events;
  54     bool monitoring;
  55     bool active;
  56     uint32_t rxDataFailurePeriod;
  57     uint32_t validRxDataReceivedAt;
  58     uint32_t validRxDataFailedAt;
  59     uint32_t throttleLowPeriod;             // throttle stick must have been below 'min_check' for this period
  60     uint32_t landingShouldBeFinishedAt;
  61     uint32_t receivingRxDataPeriod;         // period for the required period of valid rxData
  62     uint32_t receivingRxDataPeriodPreset;   // preset for the required period of valid rxData
  63     failsafePhase_e phase;
  64     failsafeRxLinkState_e rxLinkState;
  65 } failsafeState_t;
  66
  67 void useFailsafeConfig(failsafeConfig_t *failsafeConfigToUse);
  68
  69 void failsafeStartMonitoring(void);
  70 void failsafeUpdateState(void);
  71
  72 failsafePhase_e failsafePhase();
  73 bool failsafeIsMonitoring(void);
  74 bool failsafeIsActive(void);
  75 bool failsafeIsReceivingRxData(void);
  76 void failsafeOnRxSuspend(uint32_t suspendPeriod);
  77 void failsafeOnRxResume(void);
  78
  79 void failsafeOnValidDataReceived(void);
  80 void failsafeOnValidDataFailed(void);
  81
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