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Code Issues Wiki Activity

Merge pull request #1255 from ProDrone/pr1233_rxfail_mode_changes_1

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Changed behavior of PR #1233 - solves issue #1254
This commit is contained in:
Dominic Clifton 2015-09-05 23:01:11 +01:00
commit 9208b8701a
5 changed files with 45 additions and 27 deletions
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4
src/main/config/config.c
View file

@ -412,8 +412,8 @@ static void resetConf(void)
for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i];
channelFailsafeConfiguration->mode = RX_FAILSAFE_MODE_AUTO;
channelFailsafeConfiguration->step = CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
channelFailsafeConfiguration->step = (i == THROTTLE) ? masterConfig.rxConfig.rx_min_usec : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
}
masterConfig.rxConfig.rssi_channel = 0;

39
src/main/io/serial_cli.c
View file

@ -174,7 +174,12 @@ static const char * const featureNames[] = {
};
// sync this with rxFailsafeChannelMode_e
static char rxFailsafeModes[RX_FAILSAFE_MODE_COUNT] = { 'a', 'h', 's'};
static const char rxFailsafeModeCharacters[] = "ahs";
static const rxFailsafeChannelMode_e rxFailsafeModesTable[RX_FAILSAFE_TYPE_COUNT][RX_FAILSAFE_MODE_COUNT] = {
{ RX_FAILSAFE_MODE_AUTO, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_INVALID },
{ RX_FAILSAFE_MODE_INVALID, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_SET }
};
#ifndef CJMCU
// sync this with sensors_e
@ -593,27 +598,22 @@ static void cliRxFail(char *cmdline)
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[channel];
uint16_t value;
rxFailsafeChannelType_e type = (channel < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_TYPE_FLIGHT : RX_FAILSAFE_TYPE_AUX;
rxFailsafeChannelMode_e mode = channelFailsafeConfiguration->mode;
bool requireValue = channelFailsafeConfiguration->mode == RX_FAILSAFE_MODE_SET;
// TODO optimize to use rxFailsafeModes - less logic.
ptr = strchr(ptr, ' ');
if (ptr) {
switch (*(++ptr)) {
case 'a':
mode = RX_FAILSAFE_MODE_AUTO;
break;
case 'h':
mode = RX_FAILSAFE_MODE_HOLD;
break;
case 's':
mode = RX_FAILSAFE_MODE_SET;
break;
default:
cliShowParseError();
return;
char *p = strchr(rxFailsafeModeCharacters, *(++ptr));
if (p) {
uint8_t requestedMode = p - rxFailsafeModeCharacters;
mode = rxFailsafeModesTable[type][requestedMode];
} else {
mode = RX_FAILSAFE_MODE_INVALID;
}
if (mode == RX_FAILSAFE_MODE_INVALID) {
cliShowParseError();
return;
}
requireValue = mode == RX_FAILSAFE_MODE_SET;
@ -632,12 +632,15 @@ static void cliRxFail(char *cmdline)
}
channelFailsafeConfiguration->step = value;
} else if (requireValue) {
cliShowParseError();
return;
}
channelFailsafeConfiguration->mode = mode;
}
char modeCharacter = rxFailsafeModes[channelFailsafeConfiguration->mode];
char modeCharacter = rxFailsafeModeCharacters[channelFailsafeConfiguration->mode];
// triple use of printf below
// 1. acknowledge interpretation on command,

8
src/main/rx/rx.c
View file

@ -359,27 +359,29 @@ static uint16_t getRxfailValue(uint8_t channel)
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &rxConfig->failsafe_channel_configurations[channel];
switch(channelFailsafeConfiguration->mode) {
default:
case RX_FAILSAFE_MODE_AUTO:
switch (channel) {
case ROLL:
case PITCH:
case YAW:
return rxConfig->midrc;
case THROTTLE:
if (feature(FEATURE_3D))
return rxConfig->midrc;
else
return rxConfig->rx_min_usec;
}
// fall though to HOLD if there's nothing specific to do.
/* no break */
default:
case RX_FAILSAFE_MODE_INVALID:
case RX_FAILSAFE_MODE_HOLD:
return rcData[channel];
case RX_FAILSAFE_MODE_SET:
return RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfiguration->step);
}
}
STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, rxChannelRangeConfiguration_t range)

8
src/main/rx/rx.h
View file

@ -85,10 +85,18 @@ typedef enum {
RX_FAILSAFE_MODE_AUTO = 0,
RX_FAILSAFE_MODE_HOLD,
RX_FAILSAFE_MODE_SET,
RX_FAILSAFE_MODE_INVALID,
} rxFailsafeChannelMode_e;
#define RX_FAILSAFE_MODE_COUNT 3
typedef enum {
RX_FAILSAFE_TYPE_FLIGHT = 0,
RX_FAILSAFE_TYPE_AUX,
} rxFailsafeChannelType_e;
#define RX_FAILSAFE_TYPE_COUNT 2
typedef struct rxFailsafeChannelConfiguration_s {
uint8_t mode; // See rxFailsafeChannelMode_e
uint8_t step;