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Runaway Takeoff Prevention - temporarily disable during configurator bench testing

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Temporarily disables Runaway Takeoff Prevention when the `ARMING_DISABLED_MSP` flag is cleared in the configurator by switching the safety switch on the motors tab.  Allows bench testing the motors and flight controller response without triggering a runaway takeoff auto-disarm.

Requires coordination with the configurator to pass an extra runaway takeoff temporary disable flag with the MSP_ARMING_DISABLE msp command.
This commit is contained in:
Bruce Luckcuck 2018-02-12 10:17:47 -05:00
parent 9da7416c30
commit 17aeaa3ee0
3 changed files with 23 additions and 0 deletions
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11
src/main/fc/fc_core.c
View file

@ -127,6 +127,7 @@ static timeUs_t runawayTakeoffDeactivateUs = 0;
static timeUs_t runawayTakeoffAccumulatedUs = 0; static timeUs_t runawayTakeoffAccumulatedUs = 0;
static bool runawayTakeoffCheckDisabled = false; static bool runawayTakeoffCheckDisabled = false;
static timeUs_t runawayTakeoffTriggerUs = 0; static timeUs_t runawayTakeoffTriggerUs = 0;
static bool runawayTakeoffTemporarilyDisabled = false;
#endif #endif
@ -444,6 +445,14 @@ bool areSticksActive(uint8_t stickPercentLimit)
} }
return false; return false;
} }
// allow temporarily disabling runaway takeoff prevention if we are connected
// to the configurator and the ARMING_DISABLED_MSP flag is cleared.
void runawayTakeoffTemporaryDisable(uint8_t disableFlag)
{
runawayTakeoffTemporarilyDisabled = disableFlag;
}
#endif #endif
@ -530,6 +539,7 @@ bool processRx(timeUs_t currentTimeUs)
&& pidConfig()->runaway_takeoff_prevention && pidConfig()->runaway_takeoff_prevention
&& !runawayTakeoffCheckDisabled && !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashMode && !flipOverAfterCrashMode
&& !runawayTakeoffTemporarilyDisabled
&& !STATE(FIXED_WING)) { && !STATE(FIXED_WING)) {
// Determine if we're in "flight" // Determine if we're in "flight"
@ -767,6 +777,7 @@ static void subTaskPidController(timeUs_t currentTimeUs)
&& pidConfig()->runaway_takeoff_prevention && pidConfig()->runaway_takeoff_prevention
&& !runawayTakeoffCheckDisabled && !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashMode && !flipOverAfterCrashMode
&& !runawayTakeoffTemporarilyDisabled
&& (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) { && (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
const float runawayTakeoffThreshold = pidConfig()->runaway_takeoff_threshold * 10.0f; const float runawayTakeoffThreshold = pidConfig()->runaway_takeoff_threshold * 10.0f;

2
src/main/fc/fc_core.h
View file

@ -48,3 +48,5 @@ void updateRcCommands(void);
void taskMainPidLoop(timeUs_t currentTimeUs); void taskMainPidLoop(timeUs_t currentTimeUs);
bool isFlipOverAfterCrashMode(void); bool isFlipOverAfterCrashMode(void);
void runawayTakeoffTemporaryDisable(uint8_t disableFlag);

10
src/main/interface/msp.c
View file

@ -1777,13 +1777,23 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_ARMING_DISABLED: case MSP_SET_ARMING_DISABLED:
{ {
const uint8_t command = sbufReadU8(src); const uint8_t command = sbufReadU8(src);
uint8_t disableRunawayTakeoff = 0;
if (sbufBytesRemaining(src)) {
disableRunawayTakeoff = sbufReadU8(src);
}
if (command) { if (command) {
setArmingDisabled(ARMING_DISABLED_MSP); setArmingDisabled(ARMING_DISABLED_MSP);
if (ARMING_FLAG(ARMED)) { if (ARMING_FLAG(ARMED)) {
disarm(); disarm();
} }
#ifdef USE_RUNAWAY_TAKEOFF
runawayTakeoffTemporaryDisable(false);
#endif
} else { } else {
unsetArmingDisabled(ARMING_DISABLED_MSP); unsetArmingDisabled(ARMING_DISABLED_MSP);
#ifdef USE_RUNAWAY_TAKEOFF
runawayTakeoffTemporaryDisable(disableRunawayTakeoff);
#endif
} }
} }
break; break;