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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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3
src/test/unit/link_quality_unittest.cc
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@ -45,6 +45,7 @@ extern "C" {
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
@ -86,6 +87,7 @@ extern "C" {
PG_REGISTER(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 0);
PG_REGISTER(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);
PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
PG_REGISTER(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 0);
timeUs_t simulationTime = 0;
@ -502,6 +504,7 @@ extern "C" {
void persistentObjectWrite(persistentObjectId_e, uint32_t) {}
void failsafeOnRxSuspend(uint32_t ) {}
void failsafeOnRxResume(void) {}
uint32_t failsafeFailurePeriodMs(void) { return 400; }
void featureDisableImmediate(uint32_t) { }
bool rxMspFrameComplete(void) { return false; }
bool isPPMDataBeingReceived(void) { return false; }