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Fix failsafe timings and behaviour to match Failsafe.md

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This commit is contained in:
Steve Evans 2022-03-02 00:30:04 +00:00
parent a6207a100e
commit 07f6bea174
18 changed files with 214 additions and 136 deletions
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15
src/main/fc/rc.c
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@ -298,13 +298,18 @@ void updateRcRefreshRate(timeUs_t currentTimeUs)
static timeUs_t lastRxTimeUs;
timeDelta_t frameAgeUs;
timeDelta_t refreshRateUs = rxGetFrameDelta(&frameAgeUs);
if (!refreshRateUs || cmpTimeUs(currentTimeUs, lastRxTimeUs) <= frameAgeUs) {
refreshRateUs = cmpTimeUs(currentTimeUs, lastRxTimeUs); // calculate a delta here if not supplied by the protocol
timeDelta_t frameDeltaUs = rxGetFrameDelta(&frameAgeUs);
if (!frameDeltaUs || cmpTimeUs(currentTimeUs, lastRxTimeUs) <= frameAgeUs) {
frameDeltaUs = cmpTimeUs(currentTimeUs, lastRxTimeUs); // calculate a delta here if not supplied by the protocol
}
DEBUG_SET(DEBUG_RX_TIMING, 0, MIN(frameDeltaUs / 10, INT16_MAX));
DEBUG_SET(DEBUG_RX_TIMING, 1, MIN(frameAgeUs / 10, INT16_MAX));
lastRxTimeUs = currentTimeUs;
isRxRateValid = (refreshRateUs >= RC_RX_RATE_MIN_US && refreshRateUs <= RC_RX_RATE_MAX_US);
currentRxRefreshRate = constrain(refreshRateUs, RC_RX_RATE_MIN_US, RC_RX_RATE_MAX_US);
isRxRateValid = (frameDeltaUs >= RC_RX_RATE_MIN_US && frameDeltaUs <= RC_RX_RATE_MAX_US);
currentRxRefreshRate = constrain(frameDeltaUs, RC_RX_RATE_MIN_US, RC_RX_RATE_MAX_US);
}
uint16_t getCurrentRxRefreshRate(void)