From e2d84e10a93643e23780776b0a414d147e0eb3ef Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 29 Sep 2012 09:47:36 +1000
Subject: [PATCH] APM_OBC: cope with half frames on failsafe board
---
.../APM_OBC/Failsafe_Board/Failsafe_Board.pde | 16 ++++++++++++----
1 file changed, 12 insertions(+), 4 deletions(-)
diff --git a/libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde b/libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde
index 403107e92..384dc0a90 100644
--- a/libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde
+++ b/libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde
@@ -125,7 +125,7 @@ static void set_servos_terminate(uint8_t obc_mode)
{
set_mux_mode(MUX_MODE_MICRO);
if (obc_mode) {
- set_servos(1000, 2000, 1000, 1000);
+ set_servos(1100, 1824, 1040, 1131);
} else {
set_servos(1500, 1500, 1200, 1500);
}
@@ -165,6 +165,7 @@ void loop()
static uint8_t led_state;
static bool has_terminated = false;
static uint8_t termination_counter;
+ static uint8_t max_termination_counter;
static uint16_t loop_counter;
loop_counter++;
@@ -185,11 +186,11 @@ void loop()
static uint8_t last_mode_manual;
if (!receiver_fail) {
if (manual_mode) {
- if (last_mode_manual < 255) {
+ if (last_mode_manual < 32) {
last_mode_manual++;
}
- } else {
- last_mode_manual = 0;
+ } else if (last_mode_manual > 0) {
+ last_mode_manual--;
}
}
@@ -210,6 +211,9 @@ void loop()
Serial.print(" TERM1:"); Serial.print(terminate_primary);
Serial.print(" TERM2:"); Serial.print(terminate_backup);
Serial.print(" RFAIL:"); Serial.print(receiver_fail);
+ Serial.print(" TC:"); Serial.print(termination_counter);
+ Serial.print(" MTC:"); Serial.print(max_termination_counter);
+ Serial.print(" LMM:"); Serial.print(last_mode_manual);
Serial.print(" TERMINATED:"); Serial.print(has_terminated);
Serial.print(" LOOP:"); Serial.print(loop_counter);
Serial.println();
@@ -229,6 +233,7 @@ void loop()
has_terminated = false;
termination_counter = 0;
last_mode_manual = 0;
+ max_termination_counter = 0;
}
}
@@ -260,6 +265,9 @@ void loop()
} else {
termination_counter = 0;
}
+ if (termination_counter > max_termination_counter) {
+ max_termination_counter = termination_counter;
+ }
// use the termination counter to debounce the termination
// pins
--
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