/* $Id$ * * This file is a part of jPapaBench providing a Java implementation * of PapaBench project. * Copyright (C) 2010 Michal Malohlava <michal.malohlava_at_d3s.mff.cuni.cz> * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 * of the License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. * */ package papabench.core.fbw.tasks.handlers; import static papabench.core.utils.LogUtils.log; import papabench.core.commons.conf.FBWMode; import papabench.core.commons.conf.RadioConf; import papabench.core.fbw.modules.FBWModule; /** * Switch to fail save state of airplane control. * * The switching depends on message lost. * * T = 50ms * * @author Michal Malohlava * */ public class CheckFailsafeTaskHandler implements Runnable { private FBWModule fbwModule; public CheckFailsafeTaskHandler(FBWModule fbwModule) { this.fbwModule = fbwModule; } public void run() { if (fbwModule.getFBWMode() == FBWMode.MANUAL && !fbwModule.isRadioOK() || fbwModule.getFBWMode() == FBWMode.AUTO && !fbwModule.isMega128OK()) { this.fbwModule.getServosController().setServos(RadioConf.safestateRadioCommands); log(this, "Airplane was switched into failsafe mode"); } } }