mirror of
https://github.com/betaflight/betaflight.git
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Merge branch 'rework-failsafe'
This commit is contained in:
Dominic Clifton
commit
407f71ce6e
27 changed files with 863 additions and 171 deletions
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@ -192,8 +192,8 @@ Re-apply any new defaults as desired.
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| failsafe_delay | | 0 | 200 | 10 | Profile | UINT8 |
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| failsafe_off_delay | | 0 | 200 | 200 | Profile | UINT8 |
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| failsafe_throttle | | 1000 | 2000 | 1200 | Profile | UINT16 |
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| failsafe_min_usec | | 100 | 2000 | 985 | Profile | UINT16 |
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| failsafe_max_usec | | 100 | 3000 | 2115 | Profile | UINT16 |
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| rx_min_usec | | 100 | 2000 | 985 | Profile | UINT16 |
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| rx_max_usec | | 100 | 3000 | 2115 | Profile | UINT16 |
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| 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 |
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| 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 |
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| 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 |
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@ -85,7 +85,11 @@ When configuring the flight controller failsafe, use the following steps:
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a) Upon signal loss, send no signal/pulses over the channels
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b) Send an invalid signal over the channels (for example, send values lower than 'failsafe_min_usec')
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b) Send an invalid signal over the channels (for example, send values lower than 'rx_min_usec')
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and
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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.
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See your receiver's documentation for direction on how to accomplish one of these.
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@ -96,6 +100,7 @@ See your receiver's documentation for direction on how to accomplish one of thes
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4. Enable 'FAILSAFE' feature in Cleanflight GUI or via CLI using `feature FAILSAFE`
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These are the basic steps for flight controller failsafe configuration; see Failsafe Settings below for additional settings that may be changed.
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##Failsafe Settings
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@ -120,19 +125,15 @@ Throttle level used for landing. Specify a value that causes the aircraft to de
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Use standard RX usec values. See RX documentation.
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### `failsafe_min_usec`
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### `rx_min_usec`
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The shortest PWM/PPM pulse considered valid.
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The lowest channel value considered valid. e.g. PWM/PPM pulse length
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Only valid when using Parallel PWM or PPM receivers.
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### `rx_max_usec`
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### `failsafe_max_usec`
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The highest channel value considered valid. e.g. PWM/PPM pulse length
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The longest PWM/PPM pulse considered valid.
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Only valid when using Parallel PWM or PPM receivers.
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This setting helps detect when your RX stops sending any data when the RX looses signal.
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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.
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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.
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@ -55,7 +55,7 @@ Example: to use RSSI on AUX1 in Cleanflight use `set rssi_channel = 5`, since 5
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### failsafe_detect_threshold
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reason: improved functionality
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See `failsafe_min_usec` and `failsafe_max_usec` in Failsafe documentation.
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See `rx_min_usec` and `rx_max_usec` in Failsafe documentation.
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### emfavoidance
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reason: renamed to `emf_avoidance` for consistency
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@ -15,15 +15,15 @@
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* is using in the C source code, usually in main.c. This file contains:
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* - Configuration section that allows to select:
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* - The device used in the target application
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* - To use or not the peripheral’s drivers in application code(i.e.
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* code will be based on direct access to peripheral’s registers
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* - To use or not the peripheral<EFBFBD>s drivers in application code(i.e.
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* code will be based on direct access to peripheral<EFBFBD>s registers
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* rather than drivers API), this option is controlled by
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* "#define USE_STDPERIPH_DRIVER"
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* - To change few application-specific parameters such as the HSE
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* crystal frequency
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* - Data structures and the address mapping for all peripherals
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* - Peripheral's registers declarations and bits definition
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* - Macros to access peripheral’s registers hardware
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* - Macros to access peripheral<EFBFBD>s registers hardware
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*
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******************************************************************************
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* @attention
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@ -138,7 +138,7 @@ profile_t *currentProfile;
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static uint8_t currentControlRateProfileIndex = 0;
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controlRateConfig_t *currentControlRateProfile;
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static const uint8_t EEPROM_CONF_VERSION = 95;
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static const uint8_t EEPROM_CONF_VERSION = 96;
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static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
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{
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@ -407,6 +407,9 @@ static void resetConf(void)
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masterConfig.rxConfig.midrc = 1500;
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masterConfig.rxConfig.mincheck = 1100;
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masterConfig.rxConfig.maxcheck = 1900;
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masterConfig.rxConfig.rx_min_usec = 985; // any of first 4 channels below this value will trigger rx loss detection
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masterConfig.rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection
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masterConfig.rxConfig.rssi_channel = 0;
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masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
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@ -474,11 +477,9 @@ static void resetConf(void)
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currentProfile->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
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// Failsafe Variables
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currentProfile->failsafeConfig.failsafe_delay = 10; // 1sec
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currentProfile->failsafeConfig.failsafe_off_delay = 200; // 20sec
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currentProfile->failsafeConfig.failsafe_throttle = 1000; // default throttle off.
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currentProfile->failsafeConfig.failsafe_min_usec = 985; // any of first 4 channels below this value will trigger failsafe
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currentProfile->failsafeConfig.failsafe_max_usec = 2115; // any of first 4 channels above this value will trigger failsafe
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masterConfig.failsafeConfig.failsafe_delay = 10; // 1sec
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masterConfig.failsafeConfig.failsafe_off_delay = 200; // 20sec
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masterConfig.failsafeConfig.failsafe_throttle = 1000; // default throttle off.
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#ifdef USE_SERVOS
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// servos
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@ -533,9 +534,9 @@ static void resetConf(void)
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currentProfile->pidProfile.pidController = 3;
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currentProfile->pidProfile.P8[ROLL] = 36;
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currentProfile->pidProfile.P8[PITCH] = 36;
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currentProfile->failsafeConfig.failsafe_delay = 2;
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currentProfile->failsafeConfig.failsafe_off_delay = 0;
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currentProfile->failsafeConfig.failsafe_throttle = 1000;
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masterConfig.failsafeConfig.failsafe_delay = 2;
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masterConfig.failsafeConfig.failsafe_off_delay = 0;
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masterConfig.failsafeConfig.failsafe_throttle = 1000;
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currentControlRateProfile->rcRate8 = 130;
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currentControlRateProfile->rates[FD_PITCH] = 20;
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currentControlRateProfile->rates[FD_ROLL] = 20;
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@ -671,7 +672,7 @@ void activateConfig(void)
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gpsUsePIDs(¤tProfile->pidProfile);
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#endif
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useFailsafeConfig(¤tProfile->failsafeConfig);
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useFailsafeConfig(&masterConfig.failsafeConfig);
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setAccelerationTrims(&masterConfig.accZero);
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mixerUseConfigs(
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@ -61,6 +61,8 @@ typedef struct master_t {
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rxConfig_t rxConfig;
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inputFilteringMode_e inputFilteringMode; // Use hardware input filtering, e.g. for OrangeRX PPM/PWM receivers.
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failsafeConfig_t failsafeConfig;
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uint8_t retarded_arm; // allow disarm/arm on throttle down + roll left/right
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uint8_t disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
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uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
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@ -54,9 +54,6 @@ typedef struct profile_s {
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gimbalConfig_t gimbalConfig;
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#endif
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// Failsafe related configuration
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failsafeConfig_t failsafeConfig;
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#ifdef GPS
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gpsProfile_t gpsProfile;
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#endif
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@ -106,10 +106,12 @@ typedef struct
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GPIO_Speed speed;
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} gpio_config_t;
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#ifndef UNIT_TEST
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static inline void digitalHi(GPIO_TypeDef *p, uint16_t i) { p->BSRR = i; }
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static inline void digitalLo(GPIO_TypeDef *p, uint16_t i) { p->BRR = i; }
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static inline void digitalToggle(GPIO_TypeDef *p, uint16_t i) { p->ODR ^= i; }
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static inline uint16_t digitalIn(GPIO_TypeDef *p, uint16_t i) {return p->IDR & i; }
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#endif
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void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config);
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void gpioExtiLineConfig(uint8_t portsrc, uint8_t pinsrc);
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@ -33,6 +33,11 @@ typedef uint16_t timCCR_t;
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typedef uint16_t timCCER_t;
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typedef uint16_t timSR_t;
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typedef uint16_t timCNT_t;
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#elif defined(UNIT_TEST)
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typedef uint32_t timCCR_t;
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typedef uint32_t timCCER_t;
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typedef uint32_t timSR_t;
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typedef uint32_t timCNT_t;
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#else
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# error "Unknown CPU defined"
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#endif
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@ -44,9 +44,10 @@ static failsafeConfig_t *failsafeConfig;
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static rxConfig_t *rxConfig;
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void failsafeReset(void)
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static void failsafeReset(void)
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{
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failsafeState.counter = 0;
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failsafeState.phase = FAILSAFE_IDLE;
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}
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/*
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@ -58,54 +59,75 @@ void useFailsafeConfig(failsafeConfig_t *failsafeConfigToUse)
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failsafeReset();
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}
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failsafeState_t* failsafeInit(rxConfig_t *intialRxConfig)
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void failsafeInit(rxConfig_t *intialRxConfig)
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{
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rxConfig = intialRxConfig;
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failsafeState.events = 0;
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failsafeState.enabled = false;
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failsafeState.monitoring = false;
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return &failsafeState;
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return;
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}
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bool failsafeIsIdle(void)
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failsafePhase_e failsafePhase()
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{
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return failsafeState.counter == 0;
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return failsafeState.phase;
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}
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bool failsafeIsEnabled(void)
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#define MAX_COUNTER_VALUE_WHEN_RX_IS_RECEIVED_AFTER_RX_CYCLE 1
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bool failsafeIsReceivingRxData(void)
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{
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return failsafeState.enabled;
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return failsafeState.counter <= MAX_COUNTER_VALUE_WHEN_RX_IS_RECEIVED_AFTER_RX_CYCLE;
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}
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void failsafeEnable(void)
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bool failsafeIsMonitoring(void)
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{
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failsafeState.enabled = true;
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return failsafeState.monitoring;
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}
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bool failsafeHasTimerElapsed(void)
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bool failsafeIsActive(void)
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{
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return failsafeState.active;
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}
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void failsafeStartMonitoring(void)
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{
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failsafeState.monitoring = true;
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}
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static bool failsafeHasTimerElapsed(void)
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{
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return failsafeState.counter > (5 * failsafeConfig->failsafe_delay);
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}
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bool failsafeShouldForceLanding(bool armed)
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static bool failsafeShouldForceLanding(bool armed)
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{
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return failsafeHasTimerElapsed() && armed;
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}
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bool failsafeShouldHaveCausedLandingByNow(void)
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static bool failsafeShouldHaveCausedLandingByNow(void)
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{
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return failsafeState.counter > 5 * (failsafeConfig->failsafe_delay + failsafeConfig->failsafe_off_delay);
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}
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static void failsafeAvoidRearm(void)
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static void failsafeActivate(void)
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{
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// This will prevent the automatic rearm if failsafe shuts it down and prevents
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// to restart accidently by just reconnect to the tx - you will have to switch off first to rearm
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ENABLE_ARMING_FLAG(PREVENT_ARMING);
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failsafeState.active = true;
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failsafeState.phase = FAILSAFE_LANDING;
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failsafeState.events++;
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}
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static void failsafeOnValidDataReceived(void)
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static void failsafeApplyControlInput(void)
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{
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for (int i = 0; i < 3; i++) {
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rcData[i] = rxConfig->midrc;
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}
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rcData[THROTTLE] = failsafeConfig->failsafe_throttle;
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}
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void failsafeOnValidDataReceived(void)
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{
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if (failsafeState.counter > 20)
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failsafeState.counter -= 20;
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@ -115,58 +137,76 @@ static void failsafeOnValidDataReceived(void)
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void failsafeUpdateState(void)
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{
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uint8_t i;
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bool receivingRxData = failsafeIsReceivingRxData();
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bool armed = ARMING_FLAG(ARMED);
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if (!failsafeHasTimerElapsed()) {
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return;
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if (receivingRxData) {
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failsafeState.phase = FAILSAFE_IDLE;
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failsafeState.active = false;
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}
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if (!failsafeIsEnabled()) {
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failsafeReset();
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return;
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}
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if (failsafeShouldForceLanding(ARMING_FLAG(ARMED))) { // Stabilize, and set Throttle to specified level
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failsafeAvoidRearm();
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bool reprocessState;
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for (i = 0; i < 3; i++) {
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rcData[i] = rxConfig->midrc; // after specified guard time after RC signal is lost (in 0.1sec)
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do {
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reprocessState = false;
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switch (failsafeState.phase) {
|
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case FAILSAFE_IDLE:
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if (!receivingRxData && armed) {
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failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED;
|
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|
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reprocessState = true;
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}
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break;
|
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|
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case FAILSAFE_RX_LOSS_DETECTED:
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if (failsafeShouldForceLanding(armed)) {
|
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// Stabilize, and set Throttle to specified level
|
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failsafeActivate();
|
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|
||||
reprocessState = true;
|
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}
|
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break;
|
||||
|
||||
case FAILSAFE_LANDING:
|
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if (armed) {
|
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failsafeApplyControlInput();
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}
|
||||
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if (failsafeShouldHaveCausedLandingByNow() || !armed) {
|
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|
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failsafeState.phase = FAILSAFE_LANDED;
|
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|
||||
reprocessState = true;
|
||||
|
||||
}
|
||||
break;
|
||||
|
||||
case FAILSAFE_LANDED:
|
||||
|
||||
if (!armed) {
|
||||
break;
|
||||
}
|
||||
// This will prevent the automatic rearm if failsafe shuts it down and prevents
|
||||
// to restart accidently by just reconnect to the tx - you will have to switch off first to rearm
|
||||
ENABLE_ARMING_FLAG(PREVENT_ARMING);
|
||||
|
||||
failsafeState.active = false;
|
||||
mwDisarm();
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
rcData[THROTTLE] = failsafeConfig->failsafe_throttle;
|
||||
failsafeState.events++;
|
||||
}
|
||||
} while (reprocessState);
|
||||
|
||||
if (failsafeShouldHaveCausedLandingByNow() || !ARMING_FLAG(ARMED)) {
|
||||
mwDisarm();
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Should be called once each time RX data is processed by the system.
|
||||
* Should be called once when RX data is processed by the system.
|
||||
*/
|
||||
void failsafeOnRxCycle(void)
|
||||
void failsafeOnRxCycleStarted(void)
|
||||
{
|
||||
failsafeState.counter++;
|
||||
}
|
||||
|
||||
#define REQUIRED_CHANNEL_MASK 0x0F // first 4 channels
|
||||
|
||||
// pulse duration is in micro seconds (usec)
|
||||
void failsafeCheckPulse(uint8_t channel, uint16_t pulseDuration)
|
||||
{
|
||||
static uint8_t goodChannelMask = 0;
|
||||
|
||||
if (channel < 4 &&
|
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pulseDuration > failsafeConfig->failsafe_min_usec &&
|
||||
pulseDuration < failsafeConfig->failsafe_max_usec
|
||||
) {
|
||||
// if signal is valid - mark channel as OK
|
||||
goodChannelMask |= (1 << channel);
|
||||
}
|
||||
|
||||
if (goodChannelMask == REQUIRED_CHANNEL_MASK) {
|
||||
goodChannelMask = 0;
|
||||
failsafeOnValidDataReceived();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -23,30 +23,37 @@ typedef struct failsafeConfig_s {
|
|||
uint8_t failsafe_delay; // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
|
||||
uint8_t failsafe_off_delay; // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200)
|
||||
uint16_t failsafe_throttle; // Throttle level used for landing - specify value between 1000..2000 (pwm pulse width for slightly below hover). center throttle = 1500.
|
||||
uint16_t failsafe_min_usec;
|
||||
uint16_t failsafe_max_usec;
|
||||
} failsafeConfig_t;
|
||||
|
||||
typedef enum {
|
||||
FAILSAFE_IDLE = 0,
|
||||
FAILSAFE_RX_LOSS_DETECTED,
|
||||
FAILSAFE_LANDING,
|
||||
FAILSAFE_LANDED
|
||||
} failsafePhase_e;
|
||||
|
||||
typedef struct failsafeState_s {
|
||||
int16_t counter;
|
||||
int16_t events;
|
||||
bool enabled;
|
||||
bool monitoring;
|
||||
bool active;
|
||||
failsafePhase_e phase;
|
||||
} failsafeState_t;
|
||||
|
||||
void useFailsafeConfig(failsafeConfig_t *failsafeConfigToUse);
|
||||
|
||||
void failsafeEnable(void);
|
||||
void failsafeOnRxCycle(void);
|
||||
void failsafeCheckPulse(uint8_t channel, uint16_t pulseDuration);
|
||||
void failsafeStartMonitoring(void);
|
||||
void failsafeUpdateState(void);
|
||||
|
||||
void failsafeReset(void);
|
||||
failsafePhase_e failsafePhase();
|
||||
bool failsafeIsMonitoring(void);
|
||||
bool failsafeIsActive(void);
|
||||
bool failsafeIsReceivingRxData(void);
|
||||
|
||||
void failsafeOnValidDataReceived(void);
|
||||
void failsafeOnRxCycleStarted(void);
|
||||
|
||||
|
||||
|
||||
|
||||
bool failsafeIsEnabled(void);
|
||||
bool failsafeIsIdle(void);
|
||||
bool failsafeHasTimerElapsed(void);
|
||||
bool failsafeShouldForceLanding(bool armed);
|
||||
bool failsafeShouldHaveCausedLandingByNow(void);
|
||||
|
||||
|
|
|
|||
|
|
@ -49,9 +49,9 @@ static void beep_code(char first, char second, char third, char pause);
|
|||
static uint8_t toggleBeep = 0;
|
||||
|
||||
typedef enum {
|
||||
FAILSAFE_IDLE = 0,
|
||||
FAILSAFE_LANDING,
|
||||
FAILSAFE_FIND_ME
|
||||
FAILSAFE_WARNING_NONE = 0,
|
||||
FAILSAFE_WARNING_LANDING,
|
||||
FAILSAFE_WARNING_FIND_ME
|
||||
} failsafeBeeperWarnings_e;
|
||||
|
||||
void beepcodeInit(void)
|
||||
|
|
@ -64,7 +64,7 @@ void beepcodeUpdateState(batteryState_e batteryState)
|
|||
#ifdef GPS
|
||||
static uint8_t warn_noGPSfix = 0;
|
||||
#endif
|
||||
static failsafeBeeperWarnings_e warn_failsafe = FAILSAFE_IDLE;
|
||||
static failsafeBeeperWarnings_e warn_failsafe = FAILSAFE_WARNING_NONE;
|
||||
|
||||
//===================== BeeperOn via rcOptions =====================
|
||||
if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) { // unconditional beeper on via AUXn switch
|
||||
|
|
@ -74,20 +74,19 @@ void beepcodeUpdateState(batteryState_e batteryState)
|
|||
}
|
||||
//===================== Beeps for failsafe =====================
|
||||
if (feature(FEATURE_FAILSAFE)) {
|
||||
if (failsafeShouldForceLanding(ARMING_FLAG(ARMED))) {
|
||||
warn_failsafe = FAILSAFE_LANDING;
|
||||
|
||||
if (failsafeShouldHaveCausedLandingByNow()) {
|
||||
warn_failsafe = FAILSAFE_FIND_ME;
|
||||
}
|
||||
switch (failsafePhase()) {
|
||||
case FAILSAFE_LANDING:
|
||||
warn_failsafe = FAILSAFE_WARNING_LANDING;
|
||||
break;
|
||||
case FAILSAFE_LANDED:
|
||||
warn_failsafe = FAILSAFE_WARNING_FIND_ME;
|
||||
break;
|
||||
default:
|
||||
warn_failsafe = FAILSAFE_WARNING_NONE;
|
||||
}
|
||||
|
||||
if (failsafeHasTimerElapsed() && !ARMING_FLAG(ARMED)) {
|
||||
warn_failsafe = FAILSAFE_FIND_ME;
|
||||
}
|
||||
|
||||
if (failsafeIsIdle()) {
|
||||
warn_failsafe = FAILSAFE_IDLE; // turn off alarm if TX is okay
|
||||
if (rxIsReceivingSignal()) {
|
||||
warn_failsafe = FAILSAFE_WARNING_NONE;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -51,6 +51,7 @@
|
|||
|
||||
#include "flight/pid.h"
|
||||
#include "flight/imu.h"
|
||||
#include "flight/failsafe.h"
|
||||
|
||||
#ifdef GPS
|
||||
#include "io/gps.h"
|
||||
|
|
@ -204,6 +205,33 @@ void updateTicker(void)
|
|||
tickerIndex = tickerIndex % TICKER_CHARACTER_COUNT;
|
||||
}
|
||||
|
||||
void updateRxStatus(void)
|
||||
{
|
||||
i2c_OLED_set_xy(SCREEN_CHARACTER_COLUMN_COUNT - 2, 0);
|
||||
i2c_OLED_send_char(rxIsReceivingSignal() ? 'R' : '!');
|
||||
}
|
||||
|
||||
void updateFailsafeStatus(void)
|
||||
{
|
||||
char failsafeIndicator = '?';
|
||||
switch (failsafePhase()) {
|
||||
case FAILSAFE_IDLE:
|
||||
failsafeIndicator = '-';
|
||||
break;
|
||||
case FAILSAFE_RX_LOSS_DETECTED:
|
||||
failsafeIndicator = 'R';
|
||||
break;
|
||||
case FAILSAFE_LANDING:
|
||||
failsafeIndicator = 'l';
|
||||
break;
|
||||
case FAILSAFE_LANDED:
|
||||
failsafeIndicator = 'L';
|
||||
break;
|
||||
}
|
||||
i2c_OLED_set_xy(SCREEN_CHARACTER_COLUMN_COUNT - 3, 0);
|
||||
i2c_OLED_send_char(failsafeIndicator);
|
||||
}
|
||||
|
||||
void showTitle()
|
||||
{
|
||||
i2c_OLED_set_line(0);
|
||||
|
|
@ -582,8 +610,11 @@ void updateDisplay(void)
|
|||
#endif
|
||||
}
|
||||
if (!armedState) {
|
||||
updateFailsafeStatus();
|
||||
updateRxStatus();
|
||||
updateTicker();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void displaySetPage(pageId_e pageId)
|
||||
|
|
|
|||
|
|
@ -661,7 +661,7 @@ void applyLedWarningLayer(uint8_t updateNow)
|
|||
if (feature(FEATURE_VBAT) && calculateBatteryState() != BATTERY_OK) {
|
||||
warningFlags |= WARNING_FLAG_LOW_BATTERY;
|
||||
}
|
||||
if (feature(FEATURE_FAILSAFE) && failsafeHasTimerElapsed()) {
|
||||
if (feature(FEATURE_FAILSAFE) && failsafeIsActive()) {
|
||||
warningFlags |= WARNING_FLAG_FAILSAFE;
|
||||
}
|
||||
if (!ARMING_FLAG(ARMED) && !ARMING_FLAG(OK_TO_ARM)) {
|
||||
|
|
@ -714,6 +714,9 @@ void applyLedIndicatorLayer(uint8_t indicatorFlashState)
|
|||
const ledConfig_t *ledConfig;
|
||||
static const hsvColor_t *flashColor;
|
||||
|
||||
if (!rxIsReceivingSignal()) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (indicatorFlashState == 0) {
|
||||
flashColor = &hsv_orange;
|
||||
|
|
|
|||
|
|
@ -51,6 +51,7 @@
|
|||
|
||||
#include "flight/pid.h"
|
||||
#include "flight/navigation.h"
|
||||
#include "flight/failsafe.h"
|
||||
|
||||
#include "mw.h"
|
||||
|
||||
|
|
@ -124,7 +125,8 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
|
|||
}
|
||||
} else {
|
||||
// Disarming via ARM BOX
|
||||
if (ARMING_FLAG(ARMED)) {
|
||||
|
||||
if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() ) {
|
||||
if (disarm_kill_switch) {
|
||||
mwDisarm();
|
||||
} else if (throttleStatus == THROTTLE_LOW) {
|
||||
|
|
|
|||
|
|
@ -404,11 +404,12 @@ const clivalue_t valueTable[] = {
|
|||
{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, 0, CONTROL_RATE_CONFIG_TPA_MAX},
|
||||
{ "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
|
||||
|
||||
{ "failsafe_delay", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_delay, 0, 200 },
|
||||
{ "failsafe_off_delay", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_off_delay, 0, 200 },
|
||||
{ "failsafe_throttle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
|
||||
{ "failsafe_min_usec", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_min_usec, 100, PWM_RANGE_MAX },
|
||||
{ "failsafe_max_usec", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_max_usec, 100, PWM_RANGE_MAX + (PWM_RANGE_MAX - PWM_RANGE_MIN) },
|
||||
{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_delay, 0, 200 },
|
||||
{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_off_delay, 0, 200 },
|
||||
{ "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
|
||||
|
||||
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_min_usec, 100, PWM_RANGE_MAX },
|
||||
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, 100, PWM_RANGE_MAX + (PWM_RANGE_MAX - PWM_RANGE_MIN) },
|
||||
|
||||
#ifdef USE_SERVOS
|
||||
{ "gimbal_flags", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gimbalConfig.gimbal_flags, 0, 255},
|
||||
|
|
|
|||
|
|
@ -1003,7 +1003,7 @@ static bool processOutCommand(uint8_t cmdMSP)
|
|||
serialize16(masterConfig.escAndServoConfig.maxthrottle);
|
||||
serialize16(masterConfig.escAndServoConfig.mincommand);
|
||||
|
||||
serialize16(currentProfile->failsafeConfig.failsafe_throttle);
|
||||
serialize16(masterConfig.failsafeConfig.failsafe_throttle);
|
||||
|
||||
#ifdef GPS
|
||||
serialize8(masterConfig.gpsConfig.provider); // gps_type
|
||||
|
|
@ -1378,7 +1378,7 @@ static bool processInCommand(void)
|
|||
masterConfig.escAndServoConfig.maxthrottle = read16();
|
||||
masterConfig.escAndServoConfig.mincommand = read16();
|
||||
|
||||
currentProfile->failsafeConfig.failsafe_throttle = read16();
|
||||
masterConfig.failsafeConfig.failsafe_throttle = read16();
|
||||
|
||||
#ifdef GPS
|
||||
masterConfig.gpsConfig.provider = read8(); // gps_type
|
||||
|
|
|
|||
|
|
@ -509,8 +509,8 @@ void processRx(void)
|
|||
|
||||
if (feature(FEATURE_FAILSAFE)) {
|
||||
|
||||
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsEnabled()) {
|
||||
failsafeEnable();
|
||||
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
|
||||
failsafeStartMonitoring();
|
||||
}
|
||||
|
||||
failsafeUpdateState();
|
||||
|
|
@ -527,7 +527,8 @@ void processRx(void)
|
|||
if (ARMING_FLAG(ARMED)
|
||||
&& feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING)
|
||||
&& masterConfig.auto_disarm_delay != 0
|
||||
&& isUsingSticksForArming()) {
|
||||
&& isUsingSticksForArming())
|
||||
{
|
||||
if (throttleStatus == THROTTLE_LOW) {
|
||||
if ((int32_t)(disarmAt - millis()) < 0) // delay is over
|
||||
mwDisarm();
|
||||
|
|
@ -551,7 +552,7 @@ void processRx(void)
|
|||
|
||||
bool canUseHorizonMode = true;
|
||||
|
||||
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeHasTimerElapsed())) && (sensors(SENSOR_ACC))) {
|
||||
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
|
||||
// bumpless transfer to Level mode
|
||||
canUseHorizonMode = false;
|
||||
|
||||
|
|
@ -628,7 +629,7 @@ void loop(void)
|
|||
static bool haveProcessedAnnexCodeOnce = false;
|
||||
#endif
|
||||
|
||||
updateRx();
|
||||
updateRx(currentTime);
|
||||
|
||||
if (shouldProcessRx(currentTime)) {
|
||||
processRx();
|
||||
|
|
|
|||
|
|
@ -54,12 +54,10 @@ bool rxMspFrameComplete(void)
|
|||
return true;
|
||||
}
|
||||
|
||||
bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
|
||||
void rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
|
||||
{
|
||||
UNUSED(rxConfig);
|
||||
rxRuntimeConfig->channelCount = 8; // Limited to 8 channels due to MSP_SET_RAW_RC command.
|
||||
if (callback)
|
||||
*callback = rxMspReadRawRC;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
116
src/main/rx/rx.c
116
src/main/rx/rx.c
|
|
@ -56,12 +56,19 @@ bool spektrumInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcRe
|
|||
bool sumdInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
|
||||
bool sumhInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
|
||||
|
||||
bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
|
||||
void rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
|
||||
|
||||
const char rcChannelLetters[] = "AERT12345678abcdefgh";
|
||||
|
||||
uint16_t rssi = 0; // range: [0;1023]
|
||||
|
||||
static bool rxDataReceived = false;
|
||||
static bool rxSignalReceived = false;
|
||||
static bool shouldCheckPulse = true;
|
||||
|
||||
static uint32_t rxUpdateAt = 0;
|
||||
static uint32_t needRxSignalBefore = 0;
|
||||
|
||||
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
|
||||
|
||||
#define PPM_AND_PWM_SAMPLE_COUNT 4
|
||||
|
|
@ -70,6 +77,7 @@ int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
|
|||
#define PULSE_MAX 2250 // maximum PWM pulse width which is considered valid
|
||||
|
||||
#define DELAY_50_HZ (1000000 / 50)
|
||||
#define DELAY_10_HZ (1000000 / 10)
|
||||
|
||||
static rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
|
||||
|
||||
|
|
@ -83,7 +91,28 @@ void useRxConfig(rxConfig_t *rxConfigToUse)
|
|||
rxConfig = rxConfigToUse;
|
||||
}
|
||||
|
||||
#define STICK_CHANNEL_COUNT 4
|
||||
#define REQUIRED_CHANNEL_MASK 0x0F // first 4 channels
|
||||
|
||||
// pulse duration is in micro seconds (usec)
|
||||
STATIC_UNIT_TESTED void rxCheckPulse(uint8_t channel, uint16_t pulseDuration)
|
||||
{
|
||||
static uint8_t goodChannelMask = 0;
|
||||
|
||||
if (channel < 4 &&
|
||||
pulseDuration >= rxConfig->rx_min_usec &&
|
||||
pulseDuration <= rxConfig->rx_max_usec
|
||||
) {
|
||||
// if signal is valid - mark channel as OK
|
||||
goodChannelMask |= (1 << channel);
|
||||
}
|
||||
|
||||
if (goodChannelMask == REQUIRED_CHANNEL_MASK) {
|
||||
goodChannelMask = 0;
|
||||
failsafeOnValidDataReceived();
|
||||
rxSignalReceived = true;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void rxInit(rxConfig_t *rxConfig)
|
||||
{
|
||||
|
|
@ -179,43 +208,71 @@ uint8_t calculateChannelRemapping(uint8_t *channelMap, uint8_t channelMapEntryCo
|
|||
return channelToRemap;
|
||||
}
|
||||
|
||||
static bool rcDataReceived = false;
|
||||
|
||||
static uint32_t rxUpdateAt = 0;
|
||||
|
||||
|
||||
void updateRx(void)
|
||||
bool rxIsReceivingSignal(void)
|
||||
{
|
||||
rcDataReceived = false;
|
||||
return rxSignalReceived;
|
||||
}
|
||||
|
||||
static bool isRxDataDriven(void) {
|
||||
return !(feature(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM));
|
||||
}
|
||||
|
||||
void updateRx(uint32_t currentTime)
|
||||
{
|
||||
rxDataReceived = false;
|
||||
shouldCheckPulse = true;
|
||||
|
||||
if (rxSignalReceived) {
|
||||
if (((int32_t)(currentTime - needRxSignalBefore) >= 0)) {
|
||||
rxSignalReceived = false;
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef SERIAL_RX
|
||||
if (feature(FEATURE_RX_SERIAL)) {
|
||||
uint8_t frameStatus = serialRxFrameStatus(rxConfig);
|
||||
|
||||
if (frameStatus & SERIAL_RX_FRAME_COMPLETE) {
|
||||
rcDataReceived = true;
|
||||
if ((frameStatus & SERIAL_RX_FRAME_FAILSAFE) == 0 && feature(FEATURE_FAILSAFE)) {
|
||||
failsafeReset();
|
||||
rxDataReceived = true;
|
||||
rxSignalReceived = (frameStatus & SERIAL_RX_FRAME_FAILSAFE) == 0;
|
||||
if (rxSignalReceived && feature(FEATURE_FAILSAFE)) {
|
||||
shouldCheckPulse = false;
|
||||
|
||||
failsafeOnValidDataReceived();
|
||||
}
|
||||
} else {
|
||||
shouldCheckPulse = false;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
if (feature(FEATURE_RX_MSP)) {
|
||||
rcDataReceived = rxMspFrameComplete();
|
||||
if (rcDataReceived && feature(FEATURE_FAILSAFE)) {
|
||||
failsafeReset();
|
||||
rxDataReceived = rxMspFrameComplete();
|
||||
if (rxDataReceived) {
|
||||
|
||||
if (feature(FEATURE_FAILSAFE)) {
|
||||
failsafeOnValidDataReceived();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (feature(FEATURE_RX_SERIAL | FEATURE_RX_MSP) && rxDataReceived) {
|
||||
needRxSignalBefore = currentTime + DELAY_10_HZ;
|
||||
}
|
||||
|
||||
if (feature(FEATURE_RX_PPM)) {
|
||||
if (isPPMDataBeingReceived()) {
|
||||
rxSignalReceived = true;
|
||||
needRxSignalBefore = currentTime + DELAY_10_HZ;
|
||||
resetPPMDataReceivedState();
|
||||
}
|
||||
shouldCheckPulse = rxSignalReceived;
|
||||
}
|
||||
}
|
||||
|
||||
bool shouldProcessRx(uint32_t currentTime)
|
||||
{
|
||||
return rcDataReceived || ((int32_t)(currentTime - rxUpdateAt) >= 0); // data driven or 50Hz
|
||||
}
|
||||
|
||||
static bool isRxDataDriven(void) {
|
||||
return !(feature(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM));
|
||||
return rxDataReceived || ((int32_t)(currentTime - rxUpdateAt) >= 0); // data driven or 50Hz
|
||||
}
|
||||
|
||||
static uint8_t rcSampleIndex = 0;
|
||||
|
|
@ -256,17 +313,6 @@ static void processRxChannels(void)
|
|||
return; // rcData will have already been updated by MSP_SET_RAW_RC
|
||||
}
|
||||
|
||||
bool shouldCheckPulse = true;
|
||||
|
||||
if (feature(FEATURE_FAILSAFE)) {
|
||||
if (feature(FEATURE_RX_PPM)) {
|
||||
shouldCheckPulse = isPPMDataBeingReceived();
|
||||
resetPPMDataReceivedState();
|
||||
} else {
|
||||
shouldCheckPulse = !isRxDataDriven();
|
||||
}
|
||||
}
|
||||
|
||||
for (chan = 0; chan < rxRuntimeConfig.channelCount; chan++) {
|
||||
|
||||
if (!rcReadRawFunc) {
|
||||
|
|
@ -279,8 +325,8 @@ static void processRxChannels(void)
|
|||
// sample the channel
|
||||
uint16_t sample = rcReadRawFunc(&rxRuntimeConfig, rawChannel);
|
||||
|
||||
if (feature(FEATURE_FAILSAFE) && shouldCheckPulse) {
|
||||
failsafeCheckPulse(chan, sample);
|
||||
if (shouldCheckPulse) {
|
||||
rxCheckPulse(chan, sample);
|
||||
}
|
||||
|
||||
// validate the range
|
||||
|
|
@ -311,9 +357,7 @@ void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
|
|||
{
|
||||
rxUpdateAt = currentTime + DELAY_50_HZ;
|
||||
|
||||
if (feature(FEATURE_FAILSAFE)) {
|
||||
failsafeOnRxCycle();
|
||||
}
|
||||
failsafeOnRxCycleStarted();
|
||||
|
||||
if (isRxDataDriven()) {
|
||||
processDataDrivenRx();
|
||||
|
|
|
|||
|
|
@ -17,6 +17,8 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#define STICK_CHANNEL_COUNT 4
|
||||
|
||||
#define PWM_RANGE_ZERO 0 // FIXME should all usages of this be changed to use PWM_RANGE_MIN?
|
||||
#define PWM_RANGE_MIN 1000
|
||||
#define PWM_RANGE_MAX 2000
|
||||
|
|
@ -79,6 +81,10 @@ typedef struct rxConfig_s {
|
|||
uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
|
||||
uint16_t mincheck; // minimum rc end
|
||||
uint16_t maxcheck; // maximum rc end
|
||||
|
||||
uint16_t rx_min_usec;
|
||||
uint16_t rx_max_usec;
|
||||
|
||||
} rxConfig_t;
|
||||
|
||||
#define REMAPPABLE_CHANNEL_COUNT (sizeof(((rxConfig_t *)0)->rcmap) / sizeof(((rxConfig_t *)0)->rcmap[0]))
|
||||
|
|
@ -94,7 +100,8 @@ void useRxConfig(rxConfig_t *rxConfigToUse);
|
|||
|
||||
typedef uint16_t (*rcReadRawDataPtr)(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); // used by receiver driver to return channel data
|
||||
|
||||
void updateRx(void);
|
||||
void updateRx(uint32_t currentTime);
|
||||
bool rxIsReceivingSignal(void);
|
||||
bool shouldProcessRx(uint32_t currentTime);
|
||||
void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime);
|
||||
|
||||
|
|
|
|||
|
|
@ -47,11 +47,13 @@ TESTS = \
|
|||
battery_unittest \
|
||||
flight_imu_unittest \
|
||||
flight_mixer_unittest \
|
||||
flight_failsafe_unittest \
|
||||
altitude_hold_unittest \
|
||||
maths_unittest \
|
||||
gps_conversion_unittest \
|
||||
telemetry_hott_unittest \
|
||||
rc_controls_unittest \
|
||||
rx_rx_unittest \
|
||||
ledstrip_unittest \
|
||||
ws2811_unittest \
|
||||
encoding_unittest \
|
||||
|
|
@ -390,6 +392,30 @@ flight_mixer_unittest : \
|
|||
|
||||
$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
|
||||
|
||||
$(OBJECT_DIR)/flight/failsafe.o : \
|
||||
$(USER_DIR)/flight/failsafe.c \
|
||||
$(USER_DIR)/flight/failsafe.h \
|
||||
$(GTEST_HEADERS)
|
||||
|
||||
@mkdir -p $(dir $@)
|
||||
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/failsafe.c -o $@
|
||||
|
||||
$(OBJECT_DIR)/flight_failsafe_unittest.o : \
|
||||
$(TEST_DIR)/flight_failsafe_unittest.cc \
|
||||
$(USER_DIR)/flight/failsafe.h \
|
||||
$(GTEST_HEADERS)
|
||||
|
||||
@mkdir -p $(dir $@)
|
||||
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_failsafe_unittest.cc -o $@
|
||||
|
||||
flight_failsafe_unittest : \
|
||||
$(OBJECT_DIR)/flight/failsafe.o \
|
||||
$(OBJECT_DIR)/flight_failsafe_unittest.o \
|
||||
$(OBJECT_DIR)/common/maths.o \
|
||||
$(OBJECT_DIR)/gtest_main.a
|
||||
|
||||
$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
|
||||
|
||||
$(OBJECT_DIR)/io/serial.o : \
|
||||
$(USER_DIR)/io/serial.c \
|
||||
$(USER_DIR)/io/serial.h \
|
||||
|
|
@ -413,6 +439,30 @@ io_serial_unittest : \
|
|||
|
||||
$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
|
||||
|
||||
$(OBJECT_DIR)/rx/rx.o : \
|
||||
$(USER_DIR)/rx/rx.c \
|
||||
$(USER_DIR)/rx/rx.h \
|
||||
$(GTEST_HEADERS)
|
||||
|
||||
@mkdir -p $(dir $@)
|
||||
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/rx/rx.c -o $@
|
||||
|
||||
$(OBJECT_DIR)/rx_rx_unittest.o : \
|
||||
$(TEST_DIR)/rx_rx_unittest.cc \
|
||||
$(USER_DIR)/rx/rx.h \
|
||||
$(GTEST_HEADERS)
|
||||
|
||||
@mkdir -p $(dir $@)
|
||||
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rx_rx_unittest.cc -o $@
|
||||
|
||||
rx_rx_unittest : \
|
||||
$(OBJECT_DIR)/rx/rx.o \
|
||||
$(OBJECT_DIR)/rx_rx_unittest.o \
|
||||
$(OBJECT_DIR)/common/maths.o \
|
||||
$(OBJECT_DIR)/gtest_main.a
|
||||
|
||||
$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
|
||||
|
||||
test: $(TESTS)
|
||||
set -e && for test in $(TESTS) ; do \
|
||||
$(OBJECT_DIR)/$$test; \
|
||||
|
|
|
|||
317
src/test/unit/flight_failsafe_unittest.cc
Normal file
317
src/test/unit/flight_failsafe_unittest.cc
Normal file
|
|
@ -0,0 +1,317 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include <limits.h>
|
||||
|
||||
extern "C" {
|
||||
#include "debug.h"
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "common/axis.h"
|
||||
#include "common/maths.h"
|
||||
|
||||
#include "config/runtime_config.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
#include "flight/failsafe.h"
|
||||
|
||||
failsafeState_t* failsafeInit(rxConfig_t *intialRxConfig);
|
||||
}
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
uint32_t testFeatureMask = 0;
|
||||
|
||||
enum {
|
||||
COUNTER_MW_DISARM = 0,
|
||||
};
|
||||
#define CALL_COUNT_ITEM_COUNT 1
|
||||
|
||||
static int callCounts[CALL_COUNT_ITEM_COUNT];
|
||||
|
||||
#define CALL_COUNTER(item) (callCounts[item])
|
||||
|
||||
void resetCallCounters(void) {
|
||||
memset(&callCounts, 0, sizeof(callCounts));
|
||||
}
|
||||
|
||||
#define TEST_MID_RC 1495 // something other than the default 1500 will suffice.
|
||||
|
||||
rxConfig_t rxConfig;
|
||||
failsafeConfig_t failsafeConfig;
|
||||
|
||||
void configureFailsafe(void)
|
||||
{
|
||||
memset(&rxConfig, 0, sizeof(rxConfig));
|
||||
rxConfig.midrc = TEST_MID_RC;
|
||||
|
||||
memset(&failsafeConfig, 0, sizeof(failsafeConfig));
|
||||
failsafeConfig.failsafe_delay = 10; // 1 second
|
||||
failsafeConfig.failsafe_off_delay = 50; // 5 seconds
|
||||
}
|
||||
//
|
||||
// Stepwise tests
|
||||
//
|
||||
|
||||
TEST(FlightFailsafeTest, TestFailsafeInitialState)
|
||||
{
|
||||
// given
|
||||
configureFailsafe();
|
||||
// and
|
||||
DISABLE_ARMING_FLAG(ARMED);
|
||||
|
||||
// when
|
||||
useFailsafeConfig(&failsafeConfig);
|
||||
failsafeInit(&rxConfig);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(false, failsafeIsMonitoring());
|
||||
EXPECT_EQ(false, failsafeIsActive());
|
||||
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
|
||||
}
|
||||
|
||||
TEST(FlightFailsafeTest, TestFailsafeStartMonitoring)
|
||||
{
|
||||
// when
|
||||
failsafeStartMonitoring();
|
||||
|
||||
// then
|
||||
EXPECT_EQ(true, failsafeIsMonitoring());
|
||||
EXPECT_EQ(false, failsafeIsActive());
|
||||
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
|
||||
}
|
||||
|
||||
TEST(FlightFailsafeTest, TestFailsafeFirstArmedCycle)
|
||||
{
|
||||
// given
|
||||
ENABLE_ARMING_FLAG(ARMED);
|
||||
|
||||
// when
|
||||
failsafeOnRxCycleStarted();
|
||||
failsafeOnValidDataReceived();
|
||||
|
||||
// and
|
||||
failsafeUpdateState();
|
||||
|
||||
// then
|
||||
EXPECT_EQ(false, failsafeIsActive());
|
||||
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
|
||||
}
|
||||
|
||||
/*
|
||||
* FIXME failsafe assumes that calls to failsafeUpdateState() happen at a set frequency (50hz)
|
||||
* but that is NOT the case when using a RX_SERIAL or RX_MSP as in that case the rx data is processed as soon
|
||||
* as it arrives which may be more or less frequent.
|
||||
*
|
||||
* Since the failsafe uses a counter the counter would not be updated at the same frequency that the maths
|
||||
* in the failsafe code is expecting the failsafe will either be triggered to early or too late when using
|
||||
* RX_SERIAL or RX_MSP.
|
||||
*
|
||||
* uint8_t failsafe_delay; // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
|
||||
*
|
||||
* static bool failsafeHasTimerElapsed(void)
|
||||
* {
|
||||
* return failsafeState.counter > (5 * failsafeConfig->failsafe_delay);
|
||||
* }
|
||||
*
|
||||
* static bool failsafeShouldHaveCausedLandingByNow(void)
|
||||
* {
|
||||
* return failsafeState.counter > 5 * (failsafeConfig->failsafe_delay + failsafeConfig->failsafe_off_delay);
|
||||
* }
|
||||
*
|
||||
* void failsafeOnValidDataReceived(void)
|
||||
* {
|
||||
* if (failsafeState.counter > 20)
|
||||
* failsafeState.counter -= 20;
|
||||
* else
|
||||
* failsafeState.counter = 0;
|
||||
* }
|
||||
*
|
||||
* 1000ms / 50hz = 20
|
||||
*/
|
||||
|
||||
#define FAILSAFE_UPDATE_HZ 50
|
||||
|
||||
TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenReceivingData)
|
||||
{
|
||||
// when
|
||||
int callsToMakeToSimulateTenSeconds = FAILSAFE_UPDATE_HZ * 10;
|
||||
|
||||
for (int i = 0; i < callsToMakeToSimulateTenSeconds; i++) {
|
||||
failsafeOnRxCycleStarted();
|
||||
failsafeOnValidDataReceived();
|
||||
|
||||
failsafeUpdateState();
|
||||
|
||||
// then
|
||||
EXPECT_EQ(false, failsafeIsActive());
|
||||
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
|
||||
}
|
||||
}
|
||||
|
||||
TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndStartsLanding)
|
||||
{
|
||||
|
||||
// given
|
||||
ENABLE_ARMING_FLAG(ARMED);
|
||||
|
||||
// when
|
||||
failsafeOnRxCycleStarted();
|
||||
// no call to failsafeOnValidDataReceived();
|
||||
|
||||
failsafeUpdateState();
|
||||
|
||||
// then
|
||||
EXPECT_EQ(false, failsafeIsActive());
|
||||
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
|
||||
|
||||
//
|
||||
// currently one cycle must occur (above) so that the next cycle (below) can detect the lack of an update.
|
||||
//
|
||||
|
||||
// when
|
||||
for (int i = 0; i < FAILSAFE_UPDATE_HZ - 1; i++) {
|
||||
|
||||
failsafeOnRxCycleStarted();
|
||||
// no call to failsafeOnValidDataReceived();
|
||||
|
||||
failsafeUpdateState();
|
||||
|
||||
// then
|
||||
EXPECT_EQ(FAILSAFE_RX_LOSS_DETECTED, failsafePhase());
|
||||
EXPECT_EQ(false, failsafeIsActive());
|
||||
|
||||
}
|
||||
|
||||
//
|
||||
// one more cycle currently needed before the counter is re-checked.
|
||||
//
|
||||
|
||||
// when
|
||||
failsafeOnRxCycleStarted();
|
||||
// no call to failsafeOnValidDataReceived();
|
||||
failsafeUpdateState();
|
||||
|
||||
// then
|
||||
EXPECT_EQ(true, failsafeIsActive());
|
||||
EXPECT_EQ(FAILSAFE_LANDING, failsafePhase());
|
||||
}
|
||||
|
||||
TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
|
||||
{
|
||||
// given
|
||||
int callsToMakeToSimulateFiveSeconds = FAILSAFE_UPDATE_HZ * 5;
|
||||
|
||||
// when
|
||||
for (int i = 0; i < callsToMakeToSimulateFiveSeconds - 1; i++) {
|
||||
|
||||
failsafeOnRxCycleStarted();
|
||||
// no call to failsafeOnValidDataReceived();
|
||||
|
||||
failsafeUpdateState();
|
||||
|
||||
// then
|
||||
EXPECT_EQ(FAILSAFE_LANDING, failsafePhase());
|
||||
EXPECT_EQ(true, failsafeIsActive());
|
||||
|
||||
}
|
||||
|
||||
// when
|
||||
failsafeOnRxCycleStarted();
|
||||
// no call to failsafeOnValidDataReceived();
|
||||
failsafeUpdateState();
|
||||
|
||||
// then
|
||||
EXPECT_EQ(false, failsafeIsActive());
|
||||
EXPECT_EQ(FAILSAFE_LANDED, failsafePhase());
|
||||
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
|
||||
EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
|
||||
|
||||
// given
|
||||
DISABLE_ARMING_FLAG(ARMED);
|
||||
|
||||
// when
|
||||
failsafeOnRxCycleStarted();
|
||||
// no call to failsafeOnValidDataReceived();
|
||||
failsafeUpdateState();
|
||||
|
||||
// then
|
||||
EXPECT_EQ(false, failsafeIsActive());
|
||||
EXPECT_EQ(FAILSAFE_LANDED, failsafePhase());
|
||||
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
|
||||
EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
|
||||
|
||||
}
|
||||
|
||||
//
|
||||
// Additional non-stepwise tests
|
||||
//
|
||||
|
||||
TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected)
|
||||
{
|
||||
// given
|
||||
configureFailsafe();
|
||||
|
||||
// and
|
||||
useFailsafeConfig(&failsafeConfig);
|
||||
failsafeInit(&rxConfig);
|
||||
|
||||
// and
|
||||
DISABLE_ARMING_FLAG(ARMED);
|
||||
|
||||
// when
|
||||
failsafeStartMonitoring();
|
||||
|
||||
// and
|
||||
int callsToMakeToSimulateTenSeconds = FAILSAFE_UPDATE_HZ * 10;
|
||||
|
||||
for (int i = 0; i < callsToMakeToSimulateTenSeconds; i++) {
|
||||
failsafeOnRxCycleStarted();
|
||||
// no call to failsafeOnValidDataReceived();
|
||||
|
||||
failsafeUpdateState();
|
||||
|
||||
// then
|
||||
EXPECT_EQ(true, failsafeIsMonitoring());
|
||||
EXPECT_EQ(false, failsafeIsActive());
|
||||
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// STUBS
|
||||
|
||||
extern "C" {
|
||||
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
|
||||
uint8_t armingFlags;
|
||||
|
||||
void delay(uint32_t) {}
|
||||
|
||||
bool feature(uint32_t mask) {
|
||||
return (mask & testFeatureMask);
|
||||
}
|
||||
|
||||
void mwDisarm(void) {
|
||||
callCounts[COUNTER_MW_DISARM]++;
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -418,6 +418,7 @@ int scaleRange(int x, int srcMin, int srcMax, int destMin, int destMax) {
|
|||
return 0;
|
||||
}
|
||||
|
||||
bool failsafeHasTimerElapsed(void) { return false; }
|
||||
bool failsafeIsActive() { return false; }
|
||||
bool rxIsReceivingSignal() { return true; }
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -27,3 +27,21 @@
|
|||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 6
|
||||
|
||||
typedef enum
|
||||
{
|
||||
Mode_TEST = 0x0,
|
||||
} GPIO_Mode;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
void* test;
|
||||
} GPIO_TypeDef;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
void* test;
|
||||
} TIM_TypeDef;
|
||||
|
||||
typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
|
||||
|
||||
|
|
|
|||
|
|
@ -711,6 +711,9 @@ void mwDisarm(void) {}
|
|||
void displayDisablePageCycling() {}
|
||||
void displayEnablePageCycling() {}
|
||||
|
||||
bool failsafeIsActive() { return false; }
|
||||
bool rxIsReceivingSignal() { return true; }
|
||||
|
||||
uint8_t getCurrentControlRateProfile(void) {
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
162
src/test/unit/rx_rx_unittest.cc
Normal file
162
src/test/unit/rx_rx_unittest.cc
Normal file
|
|
@ -0,0 +1,162 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include <limits.h>
|
||||
|
||||
extern "C" {
|
||||
#include "platform.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
|
||||
void rxInit(rxConfig_t *rxConfig);
|
||||
void rxCheckPulse(uint8_t channel, uint16_t pulseDuration);
|
||||
}
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
enum {
|
||||
COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED = 0,
|
||||
};
|
||||
#define CALL_COUNT_ITEM_COUNT 1
|
||||
|
||||
static int callCounts[CALL_COUNT_ITEM_COUNT];
|
||||
|
||||
#define CALL_COUNTER(item) (callCounts[item])
|
||||
|
||||
void resetCallCounters(void) {
|
||||
memset(&callCounts, 0, sizeof(callCounts));
|
||||
}
|
||||
|
||||
typedef struct testData_s {
|
||||
bool isPPMDataBeingReceived;
|
||||
} testData_t;
|
||||
|
||||
static testData_t testData;
|
||||
|
||||
TEST(RxTest, TestFailsafeInformedOfValidData)
|
||||
{
|
||||
// given
|
||||
resetCallCounters();
|
||||
memset(&testData, 0, sizeof(testData));
|
||||
|
||||
// and
|
||||
rxConfig_t rxConfig;
|
||||
|
||||
memset(&rxConfig, 0, sizeof(rxConfig));
|
||||
rxConfig.rx_min_usec = 1000;
|
||||
rxConfig.rx_max_usec = 2000;
|
||||
|
||||
// when
|
||||
rxInit(&rxConfig);
|
||||
|
||||
for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
|
||||
rxCheckPulse(channelIndex, 1500);
|
||||
}
|
||||
|
||||
// then
|
||||
EXPECT_EQ(1, CALL_COUNTER(COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED));
|
||||
}
|
||||
|
||||
TEST(RxTest, TestFailsafeNotInformedOfValidDataWhenStickChannelsAreBad)
|
||||
{
|
||||
// given
|
||||
memset(&testData, 0, sizeof(testData));
|
||||
|
||||
// and
|
||||
rxConfig_t rxConfig;
|
||||
|
||||
memset(&rxConfig, 0, sizeof(rxConfig));
|
||||
rxConfig.rx_min_usec = 1000;
|
||||
rxConfig.rx_max_usec = 2000;
|
||||
|
||||
// and
|
||||
uint16_t channelPulses[MAX_SUPPORTED_RC_CHANNEL_COUNT];
|
||||
memset(&channelPulses, 1500, sizeof(channelPulses));
|
||||
|
||||
// and
|
||||
rxInit(&rxConfig);
|
||||
|
||||
// and
|
||||
|
||||
for (uint8_t stickChannelIndex = 0; stickChannelIndex < STICK_CHANNEL_COUNT; stickChannelIndex++) {
|
||||
|
||||
// given
|
||||
resetCallCounters();
|
||||
|
||||
for (uint8_t channelIndex = 0; channelIndex < STICK_CHANNEL_COUNT; channelIndex++) {
|
||||
channelPulses[stickChannelIndex] = rxConfig.rx_min_usec;
|
||||
}
|
||||
channelPulses[stickChannelIndex] = rxConfig.rx_min_usec - 1;
|
||||
|
||||
// when
|
||||
for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
|
||||
rxCheckPulse(channelIndex, channelPulses[channelIndex]);
|
||||
}
|
||||
|
||||
// then
|
||||
EXPECT_EQ(0, CALL_COUNTER(COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED));
|
||||
|
||||
// given
|
||||
resetCallCounters();
|
||||
|
||||
for (uint8_t channelIndex = 0; channelIndex < STICK_CHANNEL_COUNT; channelIndex++) {
|
||||
channelPulses[stickChannelIndex] = rxConfig.rx_max_usec;
|
||||
}
|
||||
channelPulses[stickChannelIndex] = rxConfig.rx_max_usec + 1;
|
||||
|
||||
// when
|
||||
for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
|
||||
rxCheckPulse(channelIndex, channelPulses[channelIndex]);
|
||||
}
|
||||
|
||||
// then
|
||||
EXPECT_EQ(0, CALL_COUNTER(COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// STUBS
|
||||
|
||||
extern "C" {
|
||||
void failsafeOnRxCycleStarted() {}
|
||||
void failsafeOnValidDataReceived() {
|
||||
callCounts[COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED]++;
|
||||
}
|
||||
|
||||
bool feature(uint32_t mask) {
|
||||
UNUSED(mask);
|
||||
return false;
|
||||
}
|
||||
|
||||
bool isPPMDataBeingReceived(void) {
|
||||
return testData.isPPMDataBeingReceived;
|
||||
}
|
||||
|
||||
void resetPPMDataReceivedState(void) {}
|
||||
|
||||
bool rxMspFrameComplete(void) { return false; }
|
||||
|
||||
void rxMspInit(rxConfig_t *, rxRuntimeConfig_t *, rcReadRawDataPtr *) {}
|
||||
|
||||
void rxPwmInit(rxRuntimeConfig_t *, rcReadRawDataPtr *) {}
|
||||
|
||||
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue