Merge pull request #1255 from ProDrone/pr1233_rxfail_mode_changes_1

Changed behavior of PR #1233 - solves issue #1254

docs/Rx.md

@@ -144,13 +144,14 @@ Signal loss can be detected when:
 ### RX loss configuration
 
 The `rxfail` cli command is used to configure per-channel rx-loss behaviour.
-You can use the `rxfail` command to change this behaviour, a channel can either be AUTOMATIC, HOLD or SET.
+You can use the `rxfail` command to change this behaviour.
+A flight channel can either be AUTOMATIC or HOLD, an AUX channel can either be SET or HOLD.  
 
-* AUTOMATIC - Flight channels are set to safe values (low throttle, mid position for yaw/pitch/roll), all AUX channels HOLD last value.
+* AUTOMATIC - Flight channels are set to safe values (low throttle, mid position for yaw/pitch/roll).
 * HOLD - Channel holds the last value.
 * SET - Channel is set to a specific configured value. 
 
-The default mode for all channels is AUTOMATIC.
+The default mode is AUTOMATIC for flight channels and HOLD for AUX channels. 
 
 The rxfail command can be used in conjunction with mode ranges to trigger various actions.
 
@@ -232,8 +233,12 @@ Set the RX for 'No Pulses'.  Turn OFF TX and RX, Turn ON RX.  Press and release
 
 ### Graupner GR-24 PWM
 
-Set failsafe on channels 1-4 set to OFF in the receiver settings (via transmitter menu).
+Set failsafe on the throttle channel in the receiver settings (via transmitter menu) to a value below `rx_min_usec` using channel mode FAILSAFE.
+This is the prefered way, since this is *much faster* detected by the FC then a channel that sends no pulses (OFF).
 
+__NOTE:__
+One or more control channels may be set to OFF to signal a failsafe condition to the FC, all other channels *must* be set to either HOLD or OFF. 
+Do __NOT USE__ the mode indicated with FAILSAFE instead, as this combination is NOT handled correctly by the FC.
 
 ## Receiver Channel Range Configuration.
 

src/main/config/config.c

@@ -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->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
-        channelFailsafeConfiguration->step = CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
+        channelFailsafeConfiguration->step = (i == THROTTLE) ? masterConfig.rxConfig.rx_min_usec : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
     }
 
     masterConfig.rxConfig.rssi_channel = 0;

src/main/io/serial_cli.c

@@ -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
@@ -593,25 +598,20 @@ 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)) {
+                char *p = strchr(rxFailsafeModeCharacters, *(++ptr));
-                    case 'a':
+                if (p) {
-                        mode = RX_FAILSAFE_MODE_AUTO;
+                    uint8_t requestedMode = p - rxFailsafeModeCharacters;
-                        break;
+                    mode = rxFailsafeModesTable[type][requestedMode];
-
+                } else {
-                    case 'h':
+                    mode = RX_FAILSAFE_MODE_INVALID;
-                        mode = RX_FAILSAFE_MODE_HOLD;
+                }
-                        break;
+                if (mode == RX_FAILSAFE_MODE_INVALID) {
-
-                    case 's':
-                        mode = RX_FAILSAFE_MODE_SET;
-                        break;
-                    default:
                     cliShowParseError();
                     return;
                 }
@@ -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,

src/main/rx/rx.c

@@ -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)

src/main/rx/rx.h

@@ -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;