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Add Paralyze mode support

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During team relay races it's unsafe to retrieve crashed quads because the course is continuously hot. In order to safely fly a backup quad with the primary quad crashed in the field (but powered up) it's necessary to:

* Disable arming, so that the crashed quad doesn't unintentionally arm as well. This is specifically a problem when a transmitter can send signals to all powered up receivers (like FrSky and others).
* Change VTX to an unused channel with low power output
* Turn off telemetry

This change introduces a new mode called paralyze which disables arming and prevents mode changes (except beeper). It can only be invoked while the quad isn't armed. Once it's invoked, the FC has to be power cycled. In order to invoke it, the mode needs to be in a disengaged state at least once, so that forgetting to flip the switch back after crashing doesn't immediately invoke graveyard on the backup quad.

_Legal disclaimer: I am making my contributions/submissions to this project solely in my personal capacity and am not conveying any rights to any intellectual property of any third parties._
This commit is contained in:
Robert Lacroix 2018-05-07 21:41:57 -07:00
parent 3af1610d0b
commit 092baf5805
9 changed files with 164 additions and 4 deletions
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20
src/main/fc/fc_core.c
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@ -56,6 +56,7 @@
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/fc_core.h"
#include "fc/fc_dispatch.h"
#include "fc/fc_rc.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
@ -121,6 +122,7 @@ enum {
#define DEBUG_RUNAWAY_TAKEOFF_FALSE 0
#endif
#define PARALYZE_PREVENT_MODE_CHANGES_DELAY_US 100000 // Delay after paralyze mode activates to let other mode changes propagate
#if defined(USE_GPS) || defined(USE_MAG)
int16_t magHold;
@ -141,6 +143,14 @@ static timeUs_t runawayTakeoffTriggerUs = 0;
static bool runawayTakeoffTemporarilyDisabled = false;
#endif
static bool paralyzeModeAllowed = false;
void preventModeChangesDispatch(dispatchEntry_t *self) {
UNUSED(self);
preventModeChanges();
}
static dispatchEntry_t preventModeChangesDispatchEntry = { .dispatch = preventModeChangesDispatch};
PG_REGISTER_WITH_RESET_TEMPLATE(throttleCorrectionConfig_t, throttleCorrectionConfig, PG_THROTTLE_CORRECTION_CONFIG, 0);
@ -245,6 +255,11 @@ void updateArmingStatus(void)
}
}
if (IS_RC_MODE_ACTIVE(BOXPARALYZE) && paralyzeModeAllowed) {
setArmingDisabled(ARMING_DISABLED_PARALYZE);
dispatchAdd(&preventModeChangesDispatchEntry, PARALYZE_PREVENT_MODE_CHANGES_DELAY_US);
}
if (!isUsingSticksForArming()) {
/* Ignore ARMING_DISABLED_CALIBRATING if we are going to calibrate gyro on first arm */
bool ignoreGyro = armingConfig()->gyro_cal_on_first_arm
@ -281,6 +296,11 @@ void updateArmingStatus(void)
warningLedUpdate();
}
// Check if entering into paralyze mode can be allowed regardless of arming status
if (!IS_RC_MODE_ACTIVE(BOXPARALYZE) && !paralyzeModeAllowed) {
paralyzeModeAllowed = true;
}
}
void disarm(void)