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Fixed spurious 'bad RX' arming disable detection. (#5541)

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Michael Keller 2018-03-27 09:52:14 +13:00 • committed by GitHub
parent 9cf0eca620
commit 5a7b1879ee
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3 changed files with 22 additions and 21 deletions
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4
src/main/rx/fport.c
View file

@ -262,7 +262,7 @@ static uint8_t fportFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
if (frameLength != FPORT_FRAME_PAYLOAD_LENGTH_CONTROL) { if (frameLength != FPORT_FRAME_PAYLOAD_LENGTH_CONTROL) {
reportFrameError(DEBUG_FPORT_ERROR_TYPE_SIZE); reportFrameError(DEBUG_FPORT_ERROR_TYPE_SIZE);
} else { } else {
result |= sbusChannelsDecode(rxRuntimeConfig, &frame->data.controlData.channels); result = sbusChannelsDecode(rxRuntimeConfig, &frame->data.controlData.channels);
setRssiUnfiltered(scaleRange(constrain(frame->data.controlData.rssi, 0, 100), 0, 100, 0, 1024), RSSI_SOURCE_RX_PROTOCOL); setRssiUnfiltered(scaleRange(constrain(frame->data.controlData.rssi, 0, 100), 0, 100, 0, 1024), RSSI_SOURCE_RX_PROTOCOL);
@ -314,7 +314,7 @@ static uint8_t fportFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
if ((mspPayload || hasTelemetryRequest) && cmpTimeUs(micros(), lastTelemetryFrameReceivedUs) >= FPORT_MIN_TELEMETRY_RESPONSE_DELAY_US) { if ((mspPayload || hasTelemetryRequest) && cmpTimeUs(micros(), lastTelemetryFrameReceivedUs) >= FPORT_MIN_TELEMETRY_RESPONSE_DELAY_US) {
hasTelemetryRequest = false; hasTelemetryRequest = false;
result = result | RX_FRAME_PROCESSING_REQUIRED; result = (result & ~RX_FRAME_PENDING) | RX_FRAME_PROCESSING_REQUIRED;
} }
if (lastRcFrameReceivedMs && ((millis() - lastRcFrameReceivedMs) > FPORT_MAX_TELEMETRY_AGE_MS)) { if (lastRcFrameReceivedMs && ((millis() - lastRcFrameReceivedMs) > FPORT_MAX_TELEMETRY_AGE_MS)) {

33
src/main/rx/rx.c
View file

@ -391,25 +391,18 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
{ {
UNUSED(currentDeltaTime); UNUSED(currentDeltaTime);
if (rxSignalReceived) { bool signalReceived = false;
if (currentTimeUs >= needRxSignalBefore) {
rxSignalReceived = false;
}
}
#if defined(USE_PWM) || defined(USE_PPM) #if defined(USE_PWM) || defined(USE_PPM)
if (feature(FEATURE_RX_PPM)) { if (feature(FEATURE_RX_PPM)) {
if (isPPMDataBeingReceived()) { if (isPPMDataBeingReceived()) {
rxDataProcessingRequired = true; signalReceived = true;
rxSignalReceived = true;
rxIsInFailsafeMode = false; rxIsInFailsafeMode = false;
needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs; needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
resetPPMDataReceivedState(); resetPPMDataReceivedState();
} }
} else if (feature(FEATURE_RX_PARALLEL_PWM)) { } else if (feature(FEATURE_RX_PARALLEL_PWM)) {
if (isPWMDataBeingReceived()) { if (isPWMDataBeingReceived()) {
rxDataProcessingRequired = true; signalReceived = true;
rxSignalReceived = true;
rxIsInFailsafeMode = false; rxIsInFailsafeMode = false;
needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs; needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
} }
@ -417,13 +410,15 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
#endif #endif
{ {
const uint8_t frameStatus = rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig); const uint8_t frameStatus = rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
if (frameStatus & (RX_FRAME_COMPLETE | RX_FRAME_FAILSAFE | RX_FRAME_DROPPED)) { if (frameStatus & RX_FRAME_COMPLETE) {
rxDataProcessingRequired = true;
rxIsInFailsafeMode = (frameStatus & RX_FRAME_FAILSAFE) != 0; rxIsInFailsafeMode = (frameStatus & RX_FRAME_FAILSAFE) != 0;
rxSignalReceived = (frameStatus & RX_FRAME_COMPLETE) != 0; bool rxFrameDropped = (frameStatus & RX_FRAME_DROPPED) != 0;
needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs; signalReceived = !(rxIsInFailsafeMode || rxFrameDropped);
if (signalReceived) {
needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
}
if (frameStatus & RX_FRAME_DROPPED) { if (frameStatus & (RX_FRAME_FAILSAFE | RX_FRAME_DROPPED)) {
// No (0%) signal // No (0%) signal
setRssiUnfiltered(0, RSSI_SOURCE_FRAME_ERRORS); setRssiUnfiltered(0, RSSI_SOURCE_FRAME_ERRORS);
} else { } else {
@ -437,7 +432,13 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
} }
} }
if (cmpTimeUs(currentTimeUs, rxNextUpdateAtUs) > 0) { if (signalReceived) {
rxSignalReceived = true;
} else if (currentTimeUs >= needRxSignalBefore) {
rxSignalReceived = false;
}
if (signalReceived || cmpTimeUs(currentTimeUs, rxNextUpdateAtUs) > 0) {
rxDataProcessingRequired = true; rxDataProcessingRequired = true;
} }

6
src/main/rx/sbus_channels.c
View file

@ -71,12 +71,12 @@ uint8_t sbusChannelsDecode(rxRuntimeConfig_t *rxRuntimeConfig, const sbusChannel
if (channels->flags & SBUS_FLAG_FAILSAFE_ACTIVE) { if (channels->flags & SBUS_FLAG_FAILSAFE_ACTIVE) {
// internal failsafe enabled and rx failsafe flag set // internal failsafe enabled and rx failsafe flag set
// RX *should* still be sending valid channel data (repeated), so use it. // RX *should* still be sending valid channel data (repeated), so use it.
return RX_FRAME_DROPPED | RX_FRAME_FAILSAFE; return RX_FRAME_COMPLETE | RX_FRAME_FAILSAFE;
} }
if (channels->flags & SBUS_FLAG_SIGNAL_LOSS) { if (channels->flags & SBUS_FLAG_SIGNAL_LOSS) {
// The received data is a repeat of the last valid data so can be considered complete. // The received data is a repeat of the last valid data so can be considered complete.
return RX_FRAME_DROPPED; return RX_FRAME_COMPLETE | RX_FRAME_DROPPED;
} }
return RX_FRAME_COMPLETE; return RX_FRAME_COMPLETE;