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Cleanup failsafe beeper code and update failsafe unit tests.

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This commit is contained in:
Dominic Clifton 2015-04-23 15:55:04 +02:00
parent 519586a5ce
commit 7266d42466
4 changed files with 31 additions and 22 deletions
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11
src/main/flight/failsafe.c
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@ -140,10 +140,13 @@ void failsafeUpdateState(void)
{
bool receivingRxData = failsafeIsReceivingRxData();
bool armed = ARMING_FLAG(ARMED);
beeperMode_e beeperMode = BEEPER_STOPPED;
if (receivingRxData) {
failsafeState.phase = FAILSAFE_IDLE;
failsafeState.active = false;
} else {
beeperMode = BEEPER_RX_LOST;
}
@ -162,7 +165,6 @@ void failsafeUpdateState(void)
break;
case FAILSAFE_RX_LOSS_DETECTED:
beeper(BEEPER_TX_LOST_ARMED);
if (failsafeShouldForceLanding(armed)) {
// Stabilize, and set Throttle to specified level
@ -175,6 +177,7 @@ void failsafeUpdateState(void)
case FAILSAFE_LANDING:
if (armed) {
failsafeApplyControlInput();
beeperMode = BEEPER_RX_LOST_LANDING;
}
if (failsafeShouldHaveCausedLandingByNow() || !armed) {
@ -188,8 +191,6 @@ void failsafeUpdateState(void)
case FAILSAFE_LANDED:
beeper(BEEPER_TX_LOST);
if (!armed) {
break;
}
@ -206,6 +207,10 @@ void failsafeUpdateState(void)
break;
}
} while (reprocessState);
if (beeperMode != BEEPER_STOPPED) {
beeper(beeperMode);
}
}
/**