From 8b497cc61d8b1a037d98e74d0afb96f9d3e1c520 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Mon, 31 Dec 2012 13:32:27 +0900
Subject: [PATCH] ArduCopter: log watchdog event to dataflash
---
ArduCopter/defines.h | 5 +++--
ArduCopter/events.pde | 4 ++--
ArduCopter/failsafe.pde | 3 ++-
3 files changed, 7 insertions(+), 5 deletions(-)
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index abb485250..47d2b68ce 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -446,8 +446,9 @@ enum gcs_severity {
// subsystem specific error codes -- radio
#define ERROR_CODE_RADIO_LATE_FRAME 2
// subsystem specific error codes -- failsafe
-#define ERROR_CODE_RADIO_FAILSAFE_THROTTLE 2
-#define ERROR_CODE_RADIO_FAILSAFE_BATTERY 3
+#define ERROR_CODE_FAILSAFE_THROTTLE 2
+#define ERROR_CODE_FAILSAFE_BATTERY 3
+#define ERROR_CODE_FAILSAFE_WATCHDOG 4
diff --git a/ArduCopter/events.pde b/ArduCopter/events.pde
index 7a7f4e326..7b189af96 100644
--- a/ArduCopter/events.pde
+++ b/ArduCopter/events.pde
@@ -48,7 +48,7 @@ static void failsafe_on_event()
}
// log the error to the dataflash
- Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_RADIO_FAILSAFE_THROTTLE);
+ Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_THROTTLE);
}
@@ -95,7 +95,7 @@ static void low_battery_event(void)
// warn the ground station and log to dataflash
gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!"));
- Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_RADIO_FAILSAFE_BATTERY);
+ Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_BATTERY);
#if COPTER_LEDS == ENABLED
if ( bitRead(g.copter_leds_mode, 3) ) { // Only Activate if a battery is connected to avoid alarm on USB only
diff --git a/ArduCopter/failsafe.pde b/ArduCopter/failsafe.pde
index c39dc7d9c..09dfb5185 100644
--- a/ArduCopter/failsafe.pde
+++ b/ArduCopter/failsafe.pde
@@ -48,13 +48,14 @@ void failsafe_check(uint32_t tnow)
in_failsafe = true;
}
- if (in_failsafe && tnow - failsafe_last_timestamp > 1000000) {
+ if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) {
// disarm motors every second
failsafe_last_timestamp = tnow;
if(motors.armed()) {
motors.armed(false);
set_armed(true);
motors.output();
+ Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_WATCHDOG);
}
}
}
\ No newline at end of file
--
GitLab