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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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30
src/test/unit/flight_failsafe_unittest.cc
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@ -183,7 +183,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndStartsLanding)
failsafeOnValidDataReceived(); // set last valid sample at current time
// when
for (sysTickUptime = 0; sysTickUptime < (uint32_t)(PERIOD_RXDATA_FAILURE + failsafeConfig()->failsafe_delay * MILLIS_PER_TENTH_SECOND); sysTickUptime++) {
for (sysTickUptime = 0; sysTickUptime < (uint32_t)(failsafeConfig()->failsafe_delay * MILLIS_PER_TENTH_SECOND); sysTickUptime++) {
failsafeOnValidDataFailed();
failsafeUpdateState();
@ -237,7 +237,7 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
EXPECT_TRUE(isArmingDisabled());
// given
sysTickUptime += PERIOD_OF_30_SECONDS + 1; // adjust time to point just past the required additional recovery time
sysTickUptime += PERIOD_OF_3_SECONDS + 1; // adjust time to point just past the required additional recovery time
failsafeOnValidDataReceived();
// when
@ -361,7 +361,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeKill)
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// given
sysTickUptime += PERIOD_OF_1_SECONDS + 1; // adjust time to point just past the required additional recovery time
sysTickUptime += PERIOD_OF_3_SECONDS + 1; // adjust time to point just past the required additional recovery time
failsafeOnValidDataReceived();
// when
@ -435,8 +435,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Land)
failsafeUpdateState(); // should activate stage2 immediately
// then
EXPECT_TRUE(failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_TRUE(failsafeIsActive()); // stick induced failsafe allows re-arming
EXPECT_EQ(0, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_LANDING, failsafePhase());
@ -456,7 +455,7 @@ TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Land)
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// given
sysTickUptime += PERIOD_OF_30_SECONDS + 1; // adjust time to point just past the required additional recovery time
sysTickUptime += PERIOD_OF_3_SECONDS + 1; // adjust time to point just past the required additional recovery time
// and
deactivateBoxFailsafe();
@ -497,7 +496,7 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected
sysTickUptime = 0; // restart time from 0
failsafeOnValidDataReceived(); // set last valid sample at current time
// when
// enter stage 1 failsafe
for (sysTickUptime = 0; sysTickUptime < PERIOD_RXDATA_FAILURE; sysTickUptime++) {
failsafeOnValidDataFailed();
@ -520,10 +519,20 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected
EXPECT_FALSE(failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(0, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(isArmingDisabled());
EXPECT_FALSE(isArmingDisabled()); // arming not blocked in stage 1
// given
// enough valid data is received
// add enough time to enter stage 2
sysTickUptime += failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND + 1;
failsafeOnValidDataFailed();
// when
failsafeUpdateState();
// then
EXPECT_TRUE(isArmingDisabled()); // arming blocked until recovery time
EXPECT_FALSE(failsafeIsActive()); // failsafe is still not active
// given valid data is received for the recovery time, allow re-arming
uint32_t sysTickTarget = sysTickUptime + PERIOD_RXDATA_RECOVERY;
for (; sysTickUptime < sysTickTarget; sysTickUptime++) {
failsafeOnValidDataReceived();
@ -546,6 +555,7 @@ extern "C" {
float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
float rcCommand[4];
int16_t debug[DEBUG16_VALUE_COUNT];
uint8_t debugMode = 0;
bool isUsingSticksToArm = true;
PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);