Merge pull request #7028 from mikeller/add_crash_flip_led_warning

Added 'crash flip active' to the list of warnings to be shown on LED_STRIP.

src/main/fc/core.c

@@ -129,7 +129,7 @@ enum {
 int16_t magHold;
 #endif
 
-static bool flipOverAfterCrashMode = false;
+static bool flipOverAfterCrashActive = false;
 
 static timeUs_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
 
@@ -216,7 +216,7 @@ void updateArmingStatus(void)
         }
 
         // Clear the crash flip active status
-        flipOverAfterCrashMode = false;
+        flipOverAfterCrashActive = false;
 
         // If switch is used for arming then check it is not defaulting to on when the RX link recovers from a fault
         if (!isUsingSticksForArming()) {
@@ -339,11 +339,11 @@ void disarm(void)
 #endif
         BEEP_OFF;
 #ifdef USE_DSHOT
-        if (isMotorProtocolDshot() && flipOverAfterCrashMode && !featureIsEnabled(FEATURE_3D)) {
+        if (isMotorProtocolDshot() && flipOverAfterCrashActive && !featureIsEnabled(FEATURE_3D)) {
             pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
         }
 #endif
-        flipOverAfterCrashMode = false;
+        flipOverAfterCrashActive = false;
 
         // if ARMING_DISABLED_RUNAWAY_TAKEOFF is set then we want to play it's beep pattern instead
         if (!(getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF)) {
@@ -370,7 +370,7 @@ void tryArm(void)
 #ifdef USE_DSHOT
         if (currentTimeUs - getLastDshotBeaconCommandTimeUs() < DSHOT_BEACON_GUARD_DELAY_US) {
             if (tryingToArm == ARMING_DELAYED_DISARMED) {
-                if (isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
+                if (IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
                     tryingToArm = ARMING_DELAYED_CRASHFLIP;
 #ifdef USE_LAUNCH_CONTROL
                 } else if (canUseLaunchControl()) {
@@ -384,12 +384,12 @@ void tryArm(void)
         }
         if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
             if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
-                flipOverAfterCrashMode = false;
+                flipOverAfterCrashActive = false;
                 if (!featureIsEnabled(FEATURE_3D)) {
                     pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
                 }
             } else {
-                flipOverAfterCrashMode = true;
+                flipOverAfterCrashActive = true;
 #ifdef USE_RUNAWAY_TAKEOFF
                 runawayTakeoffCheckDisabled = false;
 #endif
@@ -401,7 +401,7 @@ void tryArm(void)
 #endif
 
 #ifdef USE_LAUNCH_CONTROL
-        if (!flipOverAfterCrashMode && (canUseLaunchControl() || (tryingToArm == ARMING_DELAYED_LAUNCH_CONTROL))) {
+        if (!flipOverAfterCrashActive && (canUseLaunchControl() || (tryingToArm == ARMING_DELAYED_LAUNCH_CONTROL))) {
             if (launchControlState == LAUNCH_CONTROL_DISABLED) {  // only activate if it hasn't already been triggered
                 launchControlState = LAUNCH_CONTROL_ACTIVE;
             }
@@ -648,7 +648,7 @@ bool processRx(timeUs_t currentTimeUs)
     if (ARMING_FLAG(ARMED)
         && pidConfig()->runaway_takeoff_prevention
         && !runawayTakeoffCheckDisabled
-        && !flipOverAfterCrashMode
+        && !flipOverAfterCrashActive
         && !runawayTakeoffTemporarilyDisabled
         && !STATE(FIXED_WING)) {
 
@@ -784,7 +784,7 @@ bool processRx(timeUs_t currentTimeUs)
 
 #ifdef USE_DSHOT
     /* Enable beep warning when the crash flip mode is active */
-    if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
+    if (flipOverAfterCrashActive) {
         beeper(BEEPER_CRASH_FLIP_MODE);
     }
 #endif
@@ -934,7 +934,7 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
         && !STATE(FIXED_WING)
         && pidConfig()->runaway_takeoff_prevention
         && !runawayTakeoffCheckDisabled
-        && !flipOverAfterCrashMode
+        && !flipOverAfterCrashActive
         && !runawayTakeoffTemporarilyDisabled
         && (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || (calculateThrottleStatus() != THROTTLE_LOW))) {
 
@@ -1088,9 +1088,9 @@ FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs)
 }
 
 
-bool isFlipOverAfterCrashMode(void)
+bool isFlipOverAfterCrashActive(void)
 {
-    return flipOverAfterCrashMode;
+    return flipOverAfterCrashActive;
 }
 
 timeUs_t getLastDisarmTimeUs(void)

src/main/fc/core.h

@@ -66,7 +66,8 @@ bool processRx(timeUs_t currentTimeUs);
 void updateArmingStatus(void);
 
 void taskMainPidLoop(timeUs_t currentTimeUs);
-bool isFlipOverAfterCrashMode(void);
+
+bool isFlipOverAfterCrashActive(void);
 
 void runawayTakeoffTemporaryDisable(uint8_t disableFlag);
 bool isAirmodeActivated();

src/main/flight/mixer.c

@@ -798,7 +798,7 @@ void updateDynLpfCutoffs(timeUs_t currentTimeUs, float throttle)
 
 FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
 {
-    if (isFlipOverAfterCrashMode()) {
+    if (isFlipOverAfterCrashActive()) {
         applyFlipOverAfterCrashModeToMotors();
         return;
     }

src/main/io/ledstrip.c

@@ -47,6 +47,7 @@
 #include "drivers/vtx_common.h"
 
 #include "fc/config.h"
+#include "fc/core.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
@@ -522,6 +523,7 @@ typedef enum {
     WARNING_ARMING_DISABLED,
     WARNING_LOW_BATTERY,
     WARNING_FAILSAFE,
+    WARNING_CRASH_FLIP_ACTIVE,
 } warningFlags_e;
 
 static void applyLedWarningLayer(bool updateNow, timeUs_t *timer)
@@ -536,13 +538,19 @@ static void applyLedWarningLayer(bool updateNow, timeUs_t *timer)
 
         if (warningFlashCounter == 0) {      // update when old flags was processed
             warningFlags = 0;
-            if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE && getBatteryState() != BATTERY_OK)
+            if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE && getBatteryState() != BATTERY_OK) {
                 warningFlags |= 1 << WARNING_LOW_BATTERY;
-            if (failsafeIsActive())
+            }
+            if (failsafeIsActive()) {
                 warningFlags |= 1 << WARNING_FAILSAFE;
-            if (!ARMING_FLAG(ARMED) && isArmingDisabled())
+            }
+            if (!ARMING_FLAG(ARMED) && isArmingDisabled()) {
                 warningFlags |= 1 << WARNING_ARMING_DISABLED;
             }
+            if (isFlipOverAfterCrashActive()) {
+                warningFlags |= 1 << WARNING_CRASH_FLIP_ACTIVE;
+            }
+        }
         *timer += HZ_TO_US(10);
     }
 
@@ -556,6 +564,9 @@ static void applyLedWarningLayer(bool updateNow, timeUs_t *timer)
                 case WARNING_ARMING_DISABLED:
                     warningColor = colorOn ? &HSV(GREEN) : &HSV(BLACK);
                     break;
+                case WARNING_CRASH_FLIP_ACTIVE:
+                    warningColor = colorOn ? &HSV(MAGENTA) : &HSV(BLACK);
+                    break;
                 case WARNING_LOW_BATTERY:
                     warningColor = colorOn ? &HSV(RED) : &HSV(BLACK);
                     break;

src/main/io/osd.c

@@ -483,7 +483,7 @@ static bool osdDrawSingleElement(uint8_t item)
         {
             const int angleR = attitude.values.roll / 10;
             const int angleP = attitude.values.pitch / 10; // still gotta update all angleR and angleP pointers.
-            if (IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
+            if (isFlipOverAfterCrashActive()) {
                 if (angleP > 0 && ((angleR > 175 && angleR < 180) || (angleR > -180 && angleR < -175))) {
                     buff[0] = SYM_ARROW_SOUTH;
                 } else if (angleP > 0 && angleR > 0 && angleR < 175) {
@@ -946,7 +946,7 @@ static bool osdDrawSingleElement(uint8_t item)
 #endif
 
             // Warn when in flip over after crash mode
-            if (osdWarnGetState(OSD_WARNING_CRASH_FLIP) && isFlipOverAfterCrashMode()) {
+            if (osdWarnGetState(OSD_WARNING_CRASH_FLIP) && isFlipOverAfterCrashActive()) {
                 osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "CRASH FLIP");
                 break;
             }

src/test/unit/ledstrip_unittest.cc

@@ -388,4 +388,6 @@ bool isArmingDisabled(void) { return false; }
 
 uint8_t getRssiPercent(void) { return 0; }
 
+bool isFlipOverAfterCrashActive(void) { return false; }
+
 }

src/test/unit/osd_unittest.cc

@@ -1055,9 +1055,7 @@ extern "C" {
 
     uint16_t getCoreTemperatureCelsius(void) { return simulationCoreTemperature; }
 
-    bool isFlipOverAfterCrashMode(void) {
+    bool isFlipOverAfterCrashActive(void) { return false; }
-        return false;
-    }
 
     float pidItermAccelerator(void) { return 1.0; }
     uint8_t getMotorCount(void){ return 4; }