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Code Issues Wiki Activity

Disable arming as soon as an RX link is lost

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This commit is contained in:
Dan Nixon 2017-07-30 15:48:02 +01:00
parent 94e3273415
commit 312a7d73b9
4 changed files with 23 additions and 2 deletions
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17
src/test/unit/flight_failsafe_unittest.cc
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@ -405,6 +405,23 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(isArmingDisabled());
// given
// enough valid data is received
uint32_t sysTickTarget = sysTickUptime + PERIOD_RXDATA_RECOVERY;
for (; sysTickUptime < sysTickTarget; sysTickUptime++) {
failsafeOnValidDataReceived();
failsafeUpdateState();
EXPECT_TRUE(isArmingDisabled());
}
// and
sysTickUptime++; // adjust time to point just past the failure time to
failsafeOnValidDataReceived(); // cause link recovery
// then
EXPECT_FALSE(isArmingDisabled());
}