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Code Issues Wiki Activity

Removed a number of static config pointers

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This commit is contained in:
Martin Budden 2017-02-01 12:58:29 +00:00
parent a3951a3340
commit 5851b21e4a
26 changed files with 67 additions and 173 deletions
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53
src/main/flight/failsafe.c
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@ -43,9 +43,9 @@
/*
* Usage:
*
* failsafeInit() and useFailsafeConfig() must be called before the other methods are used.
* failsafeInit() and resetFailsafe() must be called before the other methods are used.
*
* failsafeInit() and useFailsafeConfig() can be called in any order.
* failsafeInit() and resetFailsafe() can be called in any order.
* failsafeInit() should only be called once.
*
* enable() should be called after system initialisation.
@ -53,16 +53,14 @@
static failsafeState_t failsafeState;
#ifndef USE_PARAMETER_GROPUS
static const failsafeConfig_t *failsafeConfig;
static const rxConfig_t *rxConfig;
#endif
static uint16_t deadband3dThrottle; // default throttle deadband from MIDRC
static void failsafeReset(void)
/*
* Should called when the failsafe config needs to be changed - e.g. a different profile has been selected.
*/
void failsafeReset(void)
{
failsafeState.rxDataFailurePeriod = PERIOD_RXDATA_FAILURE + failsafeConfig->failsafe_delay * MILLIS_PER_TENTH_SECOND;
failsafeState.rxDataFailurePeriod = PERIOD_RXDATA_FAILURE + failsafeConfig()->failsafe_delay * MILLIS_PER_TENTH_SECOND;
failsafeState.validRxDataReceivedAt = 0;
failsafeState.validRxDataFailedAt = 0;
failsafeState.throttleLowPeriod = 0;
@ -73,27 +71,8 @@ static void failsafeReset(void)
failsafeState.rxLinkState = FAILSAFE_RXLINK_DOWN;
}
/*
* Should called when the failsafe config needs to be changed - e.g. a different profile has been selected.
*/
void useFailsafeConfig(const failsafeConfig_t *failsafeConfigToUse)
void failsafeInit(uint16_t deadband3d_throttle)
{
#ifdef USE_PARAMETER_GROUPS
(void)(failsafeConfigToUse);
#else
failsafeConfig = failsafeConfigToUse;
#endif
failsafeReset();
}
void failsafeInit(const rxConfig_t *intialRxConfig, uint16_t deadband3d_throttle)
{
#ifdef USE_PARAMETER_GROUPS
(void)(intialRxConfig);
#else
rxConfig = intialRxConfig;
#endif
deadband3dThrottle = deadband3d_throttle;
failsafeState.events = 0;
failsafeState.monitoring = false;
@ -131,7 +110,7 @@ static void failsafeActivate(void)
failsafeState.active = true;
failsafeState.phase = FAILSAFE_LANDING;
ENABLE_FLIGHT_MODE(FAILSAFE_MODE);
failsafeState.landingShouldBeFinishedAt = millis() + failsafeConfig->failsafe_off_delay * MILLIS_PER_TENTH_SECOND;
failsafeState.landingShouldBeFinishedAt = millis() + failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND;
failsafeState.events++;
}
@ -139,9 +118,9 @@ static void failsafeActivate(void)
static void failsafeApplyControlInput(void)
{
for (int i = 0; i < 3; i++) {
rcData[i] = rxConfig->midrc;
rcData[i] = rxConfig()->midrc;
}
rcData[THROTTLE] = failsafeConfig->failsafe_throttle;
rcData[THROTTLE] = failsafeConfig()->failsafe_throttle;
}
bool failsafeIsReceivingRxData(void)
@ -201,11 +180,11 @@ void failsafeUpdateState(void)
case FAILSAFE_IDLE:
if (armed) {
// Track throttle command below minimum time
if (THROTTLE_HIGH == calculateThrottleStatus(rxConfig, deadband3dThrottle)) {
failsafeState.throttleLowPeriod = millis() + failsafeConfig->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
if (THROTTLE_HIGH == calculateThrottleStatus(rxConfig(), deadband3dThrottle)) {
failsafeState.throttleLowPeriod = millis() + failsafeConfig()->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
}
// Kill switch logic (must be independent of receivingRxData to skip PERIOD_RXDATA_FAILURE delay before disarming)
if (failsafeSwitchIsOn && failsafeConfig->failsafe_kill_switch) {
if (failsafeSwitchIsOn && failsafeConfig()->failsafe_kill_switch) {
// KillswitchEvent: failsafe switch is configured as KILL switch and is switched ON
failsafeActivate();
failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure
@ -238,7 +217,7 @@ void failsafeUpdateState(void)
if (receivingRxData) {
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
} else {
switch (failsafeConfig->failsafe_procedure) {
switch (failsafeConfig()->failsafe_procedure) {
default:
case FAILSAFE_PROCEDURE_AUTO_LANDING:
// Stabilize, and set Throttle to specified level
@ -300,7 +279,7 @@ void failsafeUpdateState(void)
// Entering IDLE with the requirement that throttle first must be at min_check for failsafe_throttle_low_delay period.
// This is to prevent that JustDisarm is activated on the next iteration.
// Because that would have the effect of shutting down failsafe handling on intermittent connections.
failsafeState.throttleLowPeriod = millis() + failsafeConfig->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
failsafeState.throttleLowPeriod = millis() + failsafeConfig()->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
failsafeState.phase = FAILSAFE_IDLE;
failsafeState.active = false;
DISABLE_FLIGHT_MODE(FAILSAFE_MODE);