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USE_GPS_RESCUE condition is now used in failsafe.c

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This commit is contained in:
Tony Cabello 2019-04-14 14:11:21 +02:00
parent d829563179
commit 7480552a62
3 changed files with 18 additions and 9 deletions
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19
src/main/flight/failsafe.c
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@ -76,8 +76,10 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
const char * const failsafeProcedureNames[FAILSAFE_PROCEDURE_COUNT] = {
"AUTO-LAND",
"DROP",
"GPS-RESCUE"
"DROP"
#ifdef USE_GPS_RESCUE
, "GPS-RESCUE"
#endif
};
/*
@ -143,11 +145,12 @@ static void failsafeActivate(void)
static void failsafeApplyControlInput(void)
{
#ifdef USE_GPS_RESCUE
if (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE) {
ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
return;
}
#endif
for (int i = 0; i < 3; i++) {
rcData[i] = rxConfig()->midrc;
@ -229,7 +232,11 @@ void failsafeUpdateState(void)
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_1_SECONDS; // require 1 seconds of valid rxData
reprocessState = true;
} else if (!receivingRxData) {
if (millis() > failsafeState.throttleLowPeriod && failsafeConfig()->failsafe_procedure != FAILSAFE_PROCEDURE_GPS_RESCUE) {
if (millis() > failsafeState.throttleLowPeriod
#ifdef USE_GPS_RESCUE
&& failsafeConfig()->failsafe_procedure != FAILSAFE_PROCEDURE_GPS_RESCUE
#endif
) {
// JustDisarm: throttle was LOW for at least 'failsafe_throttle_low_delay' seconds
failsafeActivate();
failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure
@ -266,10 +273,12 @@ void failsafeUpdateState(void)
failsafeActivate();
failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure
break;
#ifdef USE_GPS_RESCUE
case FAILSAFE_PROCEDURE_GPS_RESCUE:
failsafeActivate();
failsafeState.phase = FAILSAFE_GPS_RESCUE;
break;
#endif
}
}
reprocessState = true;
@ -292,6 +301,7 @@ void failsafeUpdateState(void)
reprocessState = true;
}
break;
#ifdef USE_GPS_RESCUE
case FAILSAFE_GPS_RESCUE:
if (receivingRxData) {
if ((failsafeState.validRxDataReceivedAt - failsafeState.validRxDataFailedAt) > (failsafeConfig()->failsafe_recovery_delay * MILLIS_PER_TENTH_SECOND + PERIOD_RXDATA_RECOVERY)) {
@ -310,6 +320,7 @@ void failsafeUpdateState(void)
reprocessState = true;
}
break;
#endif
case FAILSAFE_LANDED:
setArmingDisabled(ARMING_DISABLED_FAILSAFE); // To prevent accidently rearming by an intermittent rx link
disarm();