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Failsafe - Allow AUX channels to HOLD their last value or be SET to a

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specific value when RX loss is detected.

Tested with SBus, PWM & PPM.
This commit is contained in:
Dominic Clifton 2015-08-03 18:16:28 +01:00
parent 3436b08575
commit 490268d2fc
5 changed files with 73 additions and 17 deletions
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17
src/main/io/serial_msp.c
View file

@ -1164,9 +1164,10 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_RXFAIL_CONFIG:
headSerialReply(2 * (rxRuntimeConfig.channelCount-4));
for (i = 4; i < rxRuntimeConfig.channelCount; i++) {
serialize16(RXFAIL_STEP_TO_CHANNEL_VALUE(masterConfig.rxConfig.rx_fail_usec_steps[i-4]));
headSerialReply(3 * (rxRuntimeConfig.channelCount - NON_AUX_CHANNEL_COUNT));
for (i = NON_AUX_CHANNEL_COUNT; i < rxRuntimeConfig.channelCount; i++) {
serialize8(masterConfig.rxConfig.failsafe_aux_channel_configurations[i - NON_AUX_CHANNEL_COUNT].mode);
serialize16(RXFAIL_STEP_TO_CHANNEL_VALUE(masterConfig.rxConfig.failsafe_aux_channel_configurations[i - NON_AUX_CHANNEL_COUNT].step));
}
break;
@ -1597,12 +1598,14 @@ static bool processInCommand(void)
case MSP_SET_RXFAIL_CONFIG:
{
uint8_t channelCount = currentPort->dataSize / sizeof(uint16_t);
if (channelCount > MAX_SUPPORTED_RC_CHANNEL_COUNT-4) {
uint8_t channelCount = currentPort->dataSize / 3;
if (channelCount > MAX_AUX_CHANNEL_COUNT) {
headSerialError(0);
} else {
for (i = 4; i < channelCount; i++)
masterConfig.rxConfig.rx_fail_usec_steps[i-4] = CHANNEL_VALUE_TO_RXFAIL_STEP(read16());
for (i = NON_AUX_CHANNEL_COUNT; i < channelCount; i++) {
masterConfig.rxConfig.failsafe_aux_channel_configurations[i - NON_AUX_CHANNEL_COUNT].mode = read8();
masterConfig.rxConfig.failsafe_aux_channel_configurations[i - NON_AUX_CHANNEL_COUNT].step = CHANNEL_VALUE_TO_RXFAIL_STEP(read16());
}
}
}
break;