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Add configurable boot grace time

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This guards against the case when the RX takes longer to obtain a valid
link than the gyro takes to calibrate (previously this delay is all that
stopped immediate arming).
This commit is contained in:
Dan Nixon 2017-08-13 13:17:25 +01:00
parent fd51cda9eb
commit 0c0483d020
8 changed files with 48 additions and 22 deletions
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1
src/main/fc/config.c
View file

@ -134,6 +134,7 @@ PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
.debug_mode = DEBUG_MODE,
.task_statistics = true,
.cpu_overclock = false,
.powerOnArmingGraceTime = 5,
.boardIdentifier = TARGET_BOARD_IDENTIFIER
);
#else

1
src/main/fc/config.h
View file

@ -72,6 +72,7 @@ typedef struct systemConfig_s {
#if defined(STM32F4) && !defined(DISABLE_OVERCLOCK)
uint8_t cpu_overclock;
#endif
uint8_t powerOnArmingGraceTime; // in seconds
char boardIdentifier[sizeof(TARGET_BOARD_IDENTIFIER) + 1];
} systemConfig_t;
#endif

6
src/main/fc/fc_core.c
View file

@ -152,6 +152,12 @@ void updateArmingStatus(void)
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {
// Check if the power on arming grace time has elapsed
if ((getArmingDisableFlags() & ARMING_DISABLED_BOOT_GRACE_TIME) && (millis() >= systemConfig()->powerOnArmingGraceTime * 1000)) {
// If so, unset the grace time arming disable flag
unsetArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
}
if (IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
setArmingDisabled(ARMING_DISABLED_BOXFAILSAFE);
} else {

2
src/main/fc/fc_init.c
View file

@ -719,6 +719,8 @@ void init(void)
latchActiveFeatures();
pwmEnableMotors();
setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
#ifdef USE_OSD_SLAVE
osdSlaveTasksInit();
#else

4
src/main/fc/runtime_config.c
View file

@ -32,8 +32,8 @@ static uint32_t enabledSensors = 0;
#if defined(OSD) || !defined(MINIMAL_CLI)
const char *armingDisableFlagNames[]= {
"NOGYRO", "FAILSAFE", "RX LOSS", "BOXFAILSAFE", "THROTTLE",
"ANGLE", "NO PREARM", "ARM SWITCH", "LOAD", "CALIB", "CLI",
"CMS", "OSD", "BST"
"ANGLE", "BOOT GRACE", "NO PREARM", "ARM SWITCH", "LOAD",
"CALIB", "CLI", "CMS", "OSD", "BST"
};
#endif

31
src/main/fc/runtime_config.h
View file

@ -35,23 +35,24 @@ extern uint8_t armingFlags;
* (Beeper code can notify the most critical reason.)
*/
typedef enum {
ARMING_DISABLED_NO_GYRO = (1 << 0),
ARMING_DISABLED_FAILSAFE = (1 << 1),
ARMING_DISABLED_RX_FAILSAFE = (1 << 2),
ARMING_DISABLED_BOXFAILSAFE = (1 << 3),
ARMING_DISABLED_THROTTLE = (1 << 4),
ARMING_DISABLED_ANGLE = (1 << 5),
ARMING_DISABLED_NOPREARM = (1 << 6),
ARMING_DISABLED_ARM_SWITCH = (1 << 7),
ARMING_DISABLED_LOAD = (1 << 8),
ARMING_DISABLED_CALIBRATING = (1 << 9),
ARMING_DISABLED_CLI = (1 << 10),
ARMING_DISABLED_CMS_MENU = (1 << 11),
ARMING_DISABLED_OSD_MENU = (1 << 12),
ARMING_DISABLED_BST = (1 << 13)
ARMING_DISABLED_NO_GYRO = (1 << 0),
ARMING_DISABLED_FAILSAFE = (1 << 1),
ARMING_DISABLED_RX_FAILSAFE = (1 << 2),
ARMING_DISABLED_BOXFAILSAFE = (1 << 3),
ARMING_DISABLED_THROTTLE = (1 << 4),
ARMING_DISABLED_ANGLE = (1 << 5),
ARMING_DISABLED_BOOT_GRACE_TIME = (1 << 6),
ARMING_DISABLED_NOPREARM = (1 << 7),
ARMING_DISABLED_ARM_SWITCH = (1 << 8),
ARMING_DISABLED_LOAD = (1 << 9),
ARMING_DISABLED_CALIBRATING = (1 << 10),
ARMING_DISABLED_CLI = (1 << 11),
ARMING_DISABLED_CMS_MENU = (1 << 12),
ARMING_DISABLED_OSD_MENU = (1 << 13),
ARMING_DISABLED_BST = (1 << 14)
} armingDisableFlags_e;
#define NUM_ARMING_DISABLE_FLAGS 14
#define NUM_ARMING_DISABLE_FLAGS 15
#if defined(OSD) || !defined(MINIMAL_CLI)
extern const char *armingDisableFlagNames[NUM_ARMING_DISABLE_FLAGS];

1
src/main/fc/settings.c
View file

@ -704,6 +704,7 @@ const clivalue_t valueTable[] = {
#if defined(STM32F4) && !defined(DISABLE_OVERCLOCK)
{ "cpu_overclock", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, cpu_overclock) },
#endif
{ "pwr_on_arm_grace", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 30 }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, powerOnArmingGraceTime) },
// PG_VTX_CONFIG
#ifdef VTX_RTC6705

24
src/test/unit/arming_prevention_unittest.cc
View file

@ -70,7 +70,7 @@ bool gyroCalibDone = false;
#include "gtest/gtest.h"
TEST(ArmingPreventionTest, CalibrationAngleThrottleArmSwitch)
TEST(ArmingPreventionTest, CalibrationPowerOnGraceAngleThrottleArmSwitch)
{
// given
simulationTime = 0;
@ -91,13 +91,17 @@ TEST(ArmingPreventionTest, CalibrationAngleThrottleArmSwitch)
rcData[THROTTLE] = 1400;
rcData[4] = 1800;
// and
systemConfigMutable()->powerOnArmingGraceTime = 5;
setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_CALIBRATING | ARMING_DISABLED_ANGLE | ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
EXPECT_EQ(ARMING_DISABLED_BOOT_GRACE_TIME | ARMING_DISABLED_CALIBRATING | ARMING_DISABLED_ANGLE | ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
// gyro calibration is done
@ -109,7 +113,7 @@ TEST(ArmingPreventionTest, CalibrationAngleThrottleArmSwitch)
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ANGLE | ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
EXPECT_EQ(ARMING_DISABLED_BOOT_GRACE_TIME | ARMING_DISABLED_ANGLE | ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
// quad is level
@ -120,7 +124,7 @@ TEST(ArmingPreventionTest, CalibrationAngleThrottleArmSwitch)
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
EXPECT_EQ(ARMING_DISABLED_BOOT_GRACE_TIME | ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
rcData[THROTTLE] = 1000;
@ -128,6 +132,17 @@ TEST(ArmingPreventionTest, CalibrationAngleThrottleArmSwitch)
// when
updateArmingStatus();
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_BOOT_GRACE_TIME | ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// arming grace time has elapsed
simulationTime += systemConfig()->powerOnArmingGraceTime * 1e6;
// when
updateArmingStatus();
// expect
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
@ -220,7 +235,6 @@ TEST(ArmingPreventionTest, ArmingGuardRadioLeftOnAndArmed)
EXPECT_FALSE(isArmingDisabled());
}
TEST(ArmingPreventionTest, Prearm)
{
// given