Diff: fmea.cpp

Revision:

1:fec1d091fa34

Parent:

0:30ff725706d2

Child:

2:eb4101b574bc

--- a/fmea.cpp	Tue Mar 05 01:19:30 2013 +0000
+++ b/fmea.cpp	Wed Mar 06 13:58:03 2013 +0000
@@ -8,7 +8,7 @@
 
 //FMEA parameters
 const float steering_diff_limit = 7;
-const float throttle_diff_limit = 0.5;
+const float throttle_diff_limit = 0.4;
 int fmea_recheck_iteration = 3;
 float fmea_recheck_time = 0.3;
 
@@ -21,7 +21,6 @@
 int flag_throttle_Left_pulldown = 0;
 int flag_throttle_Right_pulldown = 0;
 
-
 //FMEA Flags
 bool flag_use_openloop = false;
 bool flag_use_steering = false;
@@ -33,6 +32,7 @@
 Ticker for_throttle_Left_pulldown_fmea;
 Ticker for_throttle_Right_pulldown_fmea;
 Ticker for_steering2_pulldown_fmea;
+Ticker for_steering_comparison_fmea;
 
 //Left RPM sensor fails. Sensor output is pulled down to zero.
 void rpm_Left_pulldown_fmea()
@@ -111,7 +111,6 @@
     else
     {
         flag_throttle_Right_pulldown = 0;
-        return;
     }
 }
 
@@ -132,7 +131,6 @@
     else
     {
         shutdown = true;
-        return;
     }
 }
 
@@ -141,14 +139,16 @@
 {
     if (!flag_use_steering)
     {
+        for_steering_comparison_fmea.detach(); 
         if (abs(steering2-steering) > steering_diff_limit)
         {
            flag_steering_comparison++;
            if (flag_steering_comparison >= fmea_recheck_iteration) 
            {
                steering2_pulldown_fmea();
+               return;
            }
-           steering_comparison_fmea();
+           for_steering_comparison_fmea.attach(&steering_comparison_fmea,fmea_recheck_time); 
         }
         else
         {