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Add failsafe to prevent arming without prior zero throttle

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This commit is contained in:
Oleg Kalachev 2025-01-24 16:23:59 +03:00
parent 7d2d54a94d
commit 15fbe34d19
2 changed files with 19 additions and 2 deletions
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19
flix/failsafe.ino
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@ -1,7 +1,7 @@
// Copyright (c) 2024 Oleg Kalachev <okalachev@gmail.com> // Copyright (c) 2024 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix // Repository: https://github.com/okalachev/flix
// Fail-safe for RC loss // Fail-safe functions
#define RC_LOSS_TIMEOUT 0.2 #define RC_LOSS_TIMEOUT 0.2
#define DESCEND_TIME 3.0 // time to descend from full throttle to zero #define DESCEND_TIME 3.0 // time to descend from full throttle to zero
@ -10,13 +10,28 @@ extern double controlsTime;
extern int rollChannel, pitchChannel, throttleChannel, yawChannel; extern int rollChannel, pitchChannel, throttleChannel, yawChannel;
void failsafe() { void failsafe() {
armingFailsafe();
rcLossFailsafe();
}
// Prevent arming without zero throttle input
void armingFailsafe() {
static double zeroThrottleTime;
static double armingTime;
if (!armed) armingTime = t; // stores the last time when the drone was disarmed, therefore contains arming time
if (controlsTime > 0 && controls[throttleChannel] < 0.05) zeroThrottleTime = controlsTime;
if (armingTime - zeroThrottleTime > 0.1) armed = false; // prevent arming if there was no zero throttle for 0.1 sec
}
// RC loss failsafe
void rcLossFailsafe() {
if (t - controlsTime > RC_LOSS_TIMEOUT) { if (t - controlsTime > RC_LOSS_TIMEOUT) {
descend(); descend();
} }
} }
// Smooth descend on RC lost
void descend() { void descend() {
// Smooth descend on RC lost
mode = STAB; mode = STAB;
controls[rollChannel] = 0; controls[rollChannel] = 0;
controls[pitchChannel] = 0; controls[pitchChannel] = 0;

2
gazebo/flix.h
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@ -44,6 +44,8 @@ void sendMessage(const void *msg);
void receiveMavlink(); void receiveMavlink();
void handleMavlink(const void *_msg); void handleMavlink(const void *_msg);
void failsafe(); void failsafe();
void armingFailsafe();
void rcLossFailsafe();
void descend(); void descend();
inline Quaternion FLU2FRD(const Quaternion &q); inline Quaternion FLU2FRD(const Quaternion &q);