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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/serial_cli.c
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@ -234,7 +234,8 @@ const clivalue_t valueTable[] = {
{ "failsafe_delay", VAR_UINT8, &currentProfile.failsafeConfig.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8, &currentProfile.failsafeConfig.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16, &currentProfile.failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
{ "failsafe_detect_threshold", VAR_UINT16, &currentProfile.failsafeConfig.failsafe_detect_threshold, 100, PWM_RANGE_MAX },
{ "failsafe_min_usec", VAR_UINT16, &currentProfile.failsafeConfig.failsafe_min_usec, 100, PWM_RANGE_MAX },
{ "failsafe_max_usec", VAR_UINT16, &currentProfile.failsafeConfig.failsafe_max_usec, 100, PWM_RANGE_MAX },
{ "gimbal_flags", VAR_UINT8, &currentProfile.gimbalConfig.gimbal_flags, 0, 255},