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Add OSD and beeper warnings for anti turtle mode

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This commit is contained in:
Dan Nixon 2017-09-09 16:47:06 +01:00
parent a4040caebd
commit 3aeef39b5a
5 changed files with 29 additions and 17 deletions
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8
src/main/fc/fc_core.c
View file

@ -465,6 +465,13 @@ void processRx(timeUs_t currentTimeUs)
updateActivatedModes(); updateActivatedModes();
#ifdef USE_DSHOT
/* Enable beep warning when the crash flip mode is active */
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
beeper(BEEPER_CRASH_FLIP_MODE);
}
#endif
if (!cliMode) { if (!cliMode) {
updateAdjustmentStates(); updateAdjustmentStates();
processRcAdjustments(currentControlRateProfile); processRcAdjustments(currentControlRateProfile);
@ -732,6 +739,7 @@ bool isMotorsReversed(void)
{ {
return reverseMotors; return reverseMotors;
} }
bool isFlipOverAfterCrashMode(void) bool isFlipOverAfterCrashMode(void)
{ {
return flipOverAfterCrashMode; return flipOverAfterCrashMode;

9
src/main/io/beeper.c
View file

@ -212,8 +212,9 @@ typedef struct beeperTableEntry_s {
{ BEEPER_ENTRY(BEEPER_SYSTEM_INIT, 16, NULL, "SYSTEM_INIT") }, { BEEPER_ENTRY(BEEPER_SYSTEM_INIT, 16, NULL, "SYSTEM_INIT") },
{ BEEPER_ENTRY(BEEPER_USB, 17, NULL, "ON_USB") }, { BEEPER_ENTRY(BEEPER_USB, 17, NULL, "ON_USB") },
{ BEEPER_ENTRY(BEEPER_BLACKBOX_ERASE, 18, beep_2shortBeeps, "BLACKBOX_ERASE") }, { BEEPER_ENTRY(BEEPER_BLACKBOX_ERASE, 18, beep_2shortBeeps, "BLACKBOX_ERASE") },
{ BEEPER_ENTRY(BEEPER_ALL, 19, NULL, "ALL") }, { BEEPER_ENTRY(BEEPER_CRASH_FLIP_MODE, 19, beep_2longerBeeps, "CRASH FLIP") },
{ BEEPER_ENTRY(BEEPER_PREFERENCE, 20, NULL, "PREFERRED") }, { BEEPER_ENTRY(BEEPER_ALL, 20, NULL, "ALL") },
{ BEEPER_ENTRY(BEEPER_PREFERENCE, 21, NULL, "PREFERRED") },
}; };
static const beeperTableEntry_t *currentBeeperEntry = NULL; static const beeperTableEntry_t *currentBeeperEntry = NULL;
@ -363,7 +364,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
return; return;
} }
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (!areMotorsRunning() && beeperConfig()->dshotBeaconTone && (beeperConfig()->dshotBeaconTone <= DSHOT_CMD_BEACON5) && (currentBeeperEntry->mode == BEEPER_RX_SET || currentBeeperEntry->mode == BEEPER_RX_LOST)) { if (!areMotorsRunning() && beeperConfig()->dshotBeaconTone && (beeperConfig()->dshotBeaconTone <= DSHOT_CMD_BEACON5) && (currentBeeperEntry->mode == BEEPER_RX_SET || currentBeeperEntry->mode == BEEPER_RX_LOST)) {
pwmDisableMotors(); pwmDisableMotors();
delay(1); delay(1);
@ -372,7 +373,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
pwmEnableMotors(); pwmEnableMotors();
} }
#endif #endif
if (!beeperIsOn) { if (!beeperIsOn) {
beeperIsOn = 1; beeperIsOn = 1;

1
src/main/io/beeper.h
View file

@ -43,6 +43,7 @@ typedef enum {
BEEPER_SYSTEM_INIT, // Initialisation beeps when board is powered on BEEPER_SYSTEM_INIT, // Initialisation beeps when board is powered on
BEEPER_USB, // Some boards have beeper powered USB connected BEEPER_USB, // Some boards have beeper powered USB connected
BEEPER_BLACKBOX_ERASE, // Beep when blackbox erase completes BEEPER_BLACKBOX_ERASE, // Beep when blackbox erase completes
BEEPER_CRASH_FLIP_MODE, // Crash flip mode is active
BEEPER_ALL, // Turn ON or OFF all beeper conditions BEEPER_ALL, // Turn ON or OFF all beeper conditions
BEEPER_PREFERENCE // Save preferred beeper configuration BEEPER_PREFERENCE // Save preferred beeper configuration
// BEEPER_ALL and BEEPER_PREFERENCE must remain at the bottom of this enum // BEEPER_ALL and BEEPER_PREFERENCE must remain at the bottom of this enum

8
src/main/io/osd.c
View file

@ -584,7 +584,13 @@ static void osdDrawSingleElement(uint8_t item)
} }
case OSD_WARNINGS: case OSD_WARNINGS:
/* Show common reason for arming being disabled */ /* Warn when in flip over after crash mode */
if ((isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
tfp_sprintf(buff, "CRASH FLIP");
break;
}
/* Show most severe reason for arming being disabled */
if (IS_RC_MODE_ACTIVE(BOXARM) && isArmingDisabled()) { if (IS_RC_MODE_ACTIVE(BOXARM) && isArmingDisabled()) {
const armingDisableFlags_e flags = getArmingDisableFlags(); const armingDisableFlags_e flags = getArmingDisableFlags();
for (int i = 0; i < NUM_ARMING_DISABLE_FLAGS; i++) { for (int i = 0; i < NUM_ARMING_DISABLE_FLAGS; i++) {

20
src/test/unit/osd_unittest.cc
View file

@ -843,12 +843,13 @@ TEST(OsdTest, TestFormatTimeString)
// STUBS // STUBS
extern "C" { extern "C" {
void beeperConfirmationBeeps(uint8_t beepCount) { void beeperConfirmationBeeps(uint8_t) {}
UNUSED(beepCount);
bool isModeActivationConditionPresent(boxId_e) {
return false;
} }
bool IS_RC_MODE_ACTIVE(boxId_e boxId) { bool IS_RC_MODE_ACTIVE(boxId_e) {
UNUSED(boxId);
return false; return false;
} }
@ -908,18 +909,13 @@ extern "C" {
return 0; return 0;
} }
bool isSerialTransmitBufferEmpty(const serialPort_t *instance) { bool isSerialTransmitBufferEmpty(const serialPort_t *) {
UNUSED(instance);
return false; return false;
} }
void serialWrite(serialPort_t *instance, uint8_t ch) { void serialWrite(serialPort_t *, uint8_t) {}
UNUSED(instance);
UNUSED(ch);
}
bool cmsDisplayPortRegister(displayPort_t *pDisplay) { bool cmsDisplayPortRegister(displayPort_t *) {
UNUSED(pDisplay);
return false; return false;
} }
} }