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Merge branch 'rework-failsafe'

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Dominic Clifton 2015-04-22 21:25:07 +02:00
commit 407f71ce6e
27 changed files with 863 additions and 171 deletions
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4
docs/Cli.md
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@ -192,8 +192,8 @@ Re-apply any new defaults as desired.
| failsafe_delay | | 0 | 200 | 10 | Profile | UINT8 |
| failsafe_off_delay | | 0 | 200 | 200 | Profile | UINT8 |
| failsafe_throttle | | 1000 | 2000 | 1200 | Profile | UINT16 |
| failsafe_min_usec | | 100 | 2000 | 985 | Profile | UINT16 |
| failsafe_max_usec | | 100 | 3000 | 2115 | Profile | UINT16 |
| rx_min_usec | | 100 | 2000 | 985 | Profile | UINT16 |
| rx_max_usec | | 100 | 3000 | 2115 | Profile | UINT16 |
| gimbal_flags | When feature SERVO_TILT is enabled, this can be a combination of the following numbers: 1=normal gimbal (default), 2=tiltmix gimbal, 4=in PPM (or SERIALRX) input mode, this will forward AUX1..4 RC inputs to PWM5..8 pins | 0 | 255 | 1 | Profile | UINT8 |
| acc_hardware | This is used to suggest which accelerometer driver should load, or to force no accelerometer in case gyro-only flight is needed. Default (0) will attempt to auto-detect among enabled drivers. Otherwise, to force a particular device, set it to 2 for ADXL345, 3 for MPU6050 integrated accelerometer, 4 for MMA8452, 5 for BMA280, 6 for LSM303DLHC, 7 for SPI_MPU6000, 8 for SPI_MPU6500 or 1 to disable accelerometer alltogether - resulting in gyro-only operation. | 0 | 9 | 0 | Master | UINT8 |
| acc_lpf_factor | This setting controls the Low Pass Filter factor for ACC. Increasing this value reduces ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter | 0 | 250 | 4 | Profile | UINT8 |

21
docs/Failsafe.md
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@ -85,7 +85,11 @@ When configuring the flight controller failsafe, use the following steps:
a) Upon signal loss, send no signal/pulses over the channels
b) Send an invalid signal over the channels (for example, send values lower than 'failsafe_min_usec')
b) Send an invalid signal over the channels (for example, send values lower than 'rx_min_usec')
and
c) Ensure your receiver does not send out channel data that would cause a disarm by switch or sticks to be registered by the FC. This is especially important for those using a switch to arm.
See your receiver's documentation for direction on how to accomplish one of these.
@ -96,6 +100,7 @@ See your receiver's documentation for direction on how to accomplish one of thes
4. Enable 'FAILSAFE' feature in Cleanflight GUI or via CLI using `feature FAILSAFE`
These are the basic steps for flight controller failsafe configuration; see Failsafe Settings below for additional settings that may be changed.
##Failsafe Settings
@ -120,19 +125,15 @@ Throttle level used for landing. Specify a value that causes the aircraft to de
Use standard RX usec values. See RX documentation.
### `failsafe_min_usec`
### `rx_min_usec`
The shortest PWM/PPM pulse considered valid.
The lowest channel value considered valid. e.g. PWM/PPM pulse length
Only valid when using Parallel PWM or PPM receivers.
### `rx_max_usec`
### `failsafe_max_usec`
The highest channel value considered valid. e.g. PWM/PPM pulse length
The longest PWM/PPM pulse considered valid.
Only valid when using Parallel PWM or PPM receivers.
This setting helps detect when your RX stops sending any data when the RX looses signal.
The `rx_min_usec` and `rx_max_usec` settings helps detect when your RX stops sending any data, enters failsafe mode or when the RX looses signal.
With a Graupner GR-24 configured for PWM output with failsafe on channels 1-4 set to OFF in the receiver settings then this setting, at its default value, will allow failsafe to be activated.

2
docs/Migrating from baseflight.md
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@ -55,7 +55,7 @@ Example: to use RSSI on AUX1 in Cleanflight use `set rssi_channel = 5`, since 5
### failsafe_detect_threshold
reason: improved functionality
See `failsafe_min_usec` and `failsafe_max_usec` in Failsafe documentation.
See `rx_min_usec` and `rx_max_usec` in Failsafe documentation.
### emfavoidance
reason: renamed to `emf_avoidance` for consistency