hard_fault_recovery module

Minimal autopilot for recovery

Currently, only allow to take a fixedwing plane in manual in case of MCU hard fault Recommanded modules are: electrical, radio_control and actuators

Init, periodic and event functions are called from main_chibios when activated

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="hard_fault_recovery">
  b'<define name="RECOVERY_DISABLE_ELECTRICAL" value="FALSE|TRUE" />\n  '
</module>

Module configuration options

Define Options

• name: RECOVERY_DISABLE_ELECTRICAL value: FALSE|TRUE
  Description: disable electrical in recovery mode

Files

Source Files

• firmwares/fixedwing/main_recovery.c

Raw hard_fault_recovery.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="hard_fault_recovery" task="core">
  <doc>
    <description>
      Minimal autopilot for recovery
 
      Currently, only allow to take a fixedwing plane in manual in case of MCU hard fault
      Recommanded modules are: electrical, radio_control and actuators
 
      Init, periodic and event functions are called from main_chibios when activated
    </description>
    <define name="RECOVERY_DISABLE_ELECTRICAL" value="FALSE|TRUE" description="disable electrical in recovery mode"/>
  </doc>
  <dep>
    <depends>system_core</depends>
    <provides>recovery</provides>
  </dep>
  <makefile target="ap" firmware="fixedwing">
    <configure name="USE_HARD_FAULT_RECOVERY" default="TRUE"/>
    <define name="USE_HARD_FAULT_RECOVERY" value="$(USE_HARD_FAULT_RECOVERY)"/>
    <file name="main_recovery.c" dir="firmwares/fixedwing"/>
    <test firmware="fixedwing">
      <define name="RADIO_CONTROL"/>
      <define name="RADIO_MODE" value="0"/>
      <define name="DOWNLINK_DEVICE" value="uart1"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="USE_UART1"/>
    </test>
  </makefile>
</module>