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BUGFIX - Cleanup failsafe system so it works correctly with Serial RX

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systems and Parallel PWM/PPM systems.

Added setting for failsafe_max_usec.  Renamed failsafe_detect_threshold
to failsafe_min_usec.

Failsafe now detects when a PPM/PWM RX isn't sending ANY data out on
CH1-4.  See documentation notes regarding Graupner receivers in
Failsafe.md.

Documented failsafe system.
This commit is contained in:
Dominic Clifton 2014-05-15 14:28:57 +01:00
parent d97722be8e
commit 032202ef8f
9 changed files with 174 additions and 46 deletions
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3
src/config.c
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@ -257,7 +257,8 @@ static void resetConf(void)
currentProfile.failsafeConfig.failsafe_delay = 10; // 1sec
currentProfile.failsafeConfig.failsafe_off_delay = 200; // 20sec
currentProfile.failsafeConfig.failsafe_throttle = 1200; // decent default which should always be below hover throttle for people.
currentProfile.failsafeConfig.failsafe_detect_threshold = 985; // any of first 4 channels below this value will trigger failsafe
currentProfile.failsafeConfig.failsafe_min_usec = 985; // any of first 4 channels below this value will trigger failsafe
currentProfile.failsafeConfig.failsafe_max_usec = 2115; // any of first 4 channels above this value will trigger failsafe
// servos
for (i = 0; i < 8; i++) {