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Refactored 'WAS_EVER_ARMED' arming flag to be only enabled on f… (#9248)

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Refactored 'WAS_EVER_ARMED' arming flag to be only enabled on first disarm.
This commit is contained in:
Michael Keller 2019-12-01 15:14:02 +13:00 • committed by GitHub
commit 9425831756
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5 changed files with 95 additions and 64 deletions
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2
src/main/fc/core.c
View file

@ -425,6 +425,7 @@ void updateArmingStatus(void)
void disarm(void)
{
if (ARMING_FLAG(ARMED)) {
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
DISABLE_ARMING_FLAG(ARMED);
lastDisarmTimeUs = micros();
@ -519,7 +520,6 @@ void tryArm(void)
osdSuppressStats(false);
#endif
ENABLE_ARMING_FLAG(ARMED);
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
resetTryingToArm();

2
src/main/flight/failsafe.c
View file

@ -209,7 +209,7 @@ void failsafeUpdateState(void)
}
// Beep RX lost only if we are not seeing data and we have been armed earlier
if (!receivingRxData && ARMING_FLAG(WAS_EVER_ARMED)) {
if (!receivingRxData && (armed || ARMING_FLAG(WAS_EVER_ARMED))) {
beeperMode = BEEPER_RX_LOST;
}

6
src/main/osd/osd.c
View file

@ -826,18 +826,18 @@ static void osdRefreshStats(void)
static timeDelta_t osdShowArmed(void)
{
static bool everArmed = false;
timeDelta_t ret;
displayClearScreen(osdDisplayPort);
if ((osdConfig()->logo_on_arming == OSD_LOGO_ARMING_ON) || ((osdConfig()->logo_on_arming == OSD_LOGO_ARMING_FIRST) && !everArmed)) {
if ((osdConfig()->logo_on_arming == OSD_LOGO_ARMING_ON) || ((osdConfig()->logo_on_arming == OSD_LOGO_ARMING_FIRST) && !ARMING_FLAG(WAS_EVER_ARMED))) {
osdDrawLogo(3, 1);
ret = osdConfig()->logo_on_arming_duration * 1e5;
} else {
ret = (REFRESH_1S / 2);
}
displayWrite(osdDisplayPort, 12, 7, DISPLAYPORT_ATTR_NONE, "ARMED");
everArmed = true;
return ret;
}

2
src/main/osd/osd_elements.c
View file

@ -1445,7 +1445,7 @@ static void osdElementWarnings(osdElementParms_t *element)
#endif // USE_RC_SMOOTHING_FILTER
// Show warning if battery is not fresh
if (osdWarnGetState(OSD_WARNING_BATTERY_NOT_FULL) && !ARMING_FLAG(WAS_EVER_ARMED) && (getBatteryState() == BATTERY_OK)
if (osdWarnGetState(OSD_WARNING_BATTERY_NOT_FULL) && !(ARMING_FLAG(ARMED) || ARMING_FLAG(WAS_EVER_ARMED)) && (getBatteryState() == BATTERY_OK)
&& getBatteryAverageCellVoltage() < batteryConfig()->vbatfullcellvoltage) {
tfp_sprintf(element->buff, "BATT < FULL");
element->attr = DISPLAYPORT_ATTR_INFO;

147
src/test/unit/osd_unittest.cc
View file

@ -174,8 +174,13 @@ bool isSomeStatEnabled(void) {
* Performs a test of the OSD actions on disarming.
* (reused throughout the test suite)
*/
void doTestDisarm()
void doTestDisarm(bool cleanup = false)
{
if (cleanup) {
// Clean up the armed state without showing stats at the end of a test
osdConfigMutable()->enabled_stats = 0;
}
// given
// craft is disarmed after having been armed
DISABLE_ARMING_FLAG(ARMED);
@ -187,7 +192,14 @@ void doTestDisarm()
// then
// post flight statistics displayed
if (isSomeStatEnabled()) {
displayPortTestBufferSubstring(2, 2, " --- STATS ---");
unsigned enabledStats = osdConfigMutable()->enabled_stats;
unsigned count = 0;
while (enabledStats) {
count += enabledStats & 1;
enabledStats >>= 1;
}
displayPortTestBufferSubstring(2, 7 - count / 2, " --- STATS ---");
}
}
@ -238,6 +250,8 @@ TEST(OsdTest, TestInit)
TEST(OsdTest, TestArm)
{
doTestArm();
doTestDisarm(true);
}
/*
@ -271,6 +285,8 @@ TEST(OsdTest, TestDisarmWithImmediateRearm)
doTestArm();
doTestDisarm();
doTestArm();
doTestDisarm(true);
}
/*
@ -278,7 +294,7 @@ TEST(OsdTest, TestDisarmWithImmediateRearm)
*/
TEST(OsdTest, TestDisarmWithDismissStats)
{
// Craft is alread armed after previous test
doTestArm();
doTestDisarm();
@ -289,7 +305,6 @@ TEST(OsdTest, TestDisarmWithDismissStats)
// when
// sufficient OSD updates have been called
osdRefresh(simulationTime);
osdRefresh(simulationTime);
// then
// post flight stats screen disappears
@ -299,6 +314,59 @@ TEST(OsdTest, TestDisarmWithDismissStats)
displayPortTestBufferIsEmpty();
rcData[PITCH] = 1500;
doTestDisarm(true);
}
/*
* Tests the calculation of timing in statistics
*/
TEST(OsdTest, TestStatsTiming)
{
// given
osdStatSetState(OSD_STAT_RTC_DATE_TIME, true);
osdStatSetState(OSD_STAT_TIMER_1, true);
osdStatSetState(OSD_STAT_TIMER_2, true);
// and
// this timer 1 configuration
osdConfigMutable()->timers[OSD_TIMER_1] = OSD_TIMER(OSD_TIMER_SRC_TOTAL_ARMED, OSD_TIMER_PREC_HUNDREDTHS, 0);
// and
// this timer 2 configuration
osdConfigMutable()->timers[OSD_TIMER_2] = OSD_TIMER(OSD_TIMER_SRC_LAST_ARMED, OSD_TIMER_PREC_SECOND, 0);
// and
// this RTC time
dateTime_t dateTime;
dateTime.year = 2017;
dateTime.month = 11;
dateTime.day = 19;
dateTime.hours = 10;
dateTime.minutes = 12;
dateTime.seconds = 0;
dateTime.millis = 0;
rtcSetDateTime(&dateTime);
// when
// the craft is armed
doTestArm();
// and
// these conditions occur during flight
simulationTime += 1e6;
osdRefresh(simulationTime);
// and
// the craft is disarmed
doTestDisarm();
// then
// statistics screen should display the following
int row = 7;
displayPortTestBufferSubstring(2, row++, "2017-11-19 10:12:");
displayPortTestBufferSubstring(2, row++, "TOTAL ARM : 00:03.50");
displayPortTestBufferSubstring(2, row++, "LAST ARM : 00:01");
}
/*
@ -316,8 +384,6 @@ TEST(OsdTest, TestStatsImperial)
osdStatSetState(OSD_STAT_MAX_ALTITUDE, true);
osdStatSetState(OSD_STAT_BLACKBOX, false);
osdStatSetState(OSD_STAT_END_BATTERY, true);
osdStatSetState(OSD_STAT_TIMER_1, true);
osdStatSetState(OSD_STAT_TIMER_2, true);
osdStatSetState(OSD_STAT_RTC_DATE_TIME, true);
osdStatSetState(OSD_STAT_MAX_DISTANCE, true);
osdStatSetState(OSD_STAT_FLIGHT_DISTANCE, true);
@ -330,30 +396,10 @@ TEST(OsdTest, TestStatsImperial)
// using imperial unit system
osdConfigMutable()->units = OSD_UNIT_IMPERIAL;
// and
// this timer 1 configuration
osdConfigMutable()->timers[OSD_TIMER_1] = OSD_TIMER(OSD_TIMER_SRC_TOTAL_ARMED, OSD_TIMER_PREC_HUNDREDTHS, 0);
// and
// this timer 2 configuration
osdConfigMutable()->timers[OSD_TIMER_2] = OSD_TIMER(OSD_TIMER_SRC_LAST_ARMED, OSD_TIMER_PREC_SECOND, 0);
// and
// a GPS fix is present
stateFlags |= GPS_FIX | GPS_FIX_HOME;
// and
// this RTC time
dateTime_t dateTime;
dateTime.year = 2017;
dateTime.month = 11;
dateTime.day = 19;
dateTime.hours = 10;
dateTime.minutes = 12;
dateTime.seconds = 0;
dateTime.millis = 0;
rtcSetDateTime(&dateTime);
// when
// the craft is armed
doTestArm();
@ -393,10 +439,7 @@ TEST(OsdTest, TestStatsImperial)
// then
// statistics screen should display the following
int row = 3;
displayPortTestBufferSubstring(2, row++, "2017-11-19 10:12:");
displayPortTestBufferSubstring(2, row++, "TOTAL ARM : 00:05.00");
displayPortTestBufferSubstring(2, row++, "LAST ARM : 00:03");
int row = 6;
displayPortTestBufferSubstring(2, row++, "MAX ALTITUDE : 6.5%c", SYM_FT);
displayPortTestBufferSubstring(2, row++, "MAX SPEED : 17");
displayPortTestBufferSubstring(2, row++, "MAX DISTANCE : 328%c", SYM_FT);
@ -416,9 +459,6 @@ TEST(OsdTest, TestStatsMetric)
// using metric unit system
osdConfigMutable()->units = OSD_UNIT_METRIC;
// set timer 1 configuration to tenths precision
osdConfigMutable()->timers[OSD_TIMER_1] = OSD_TIMER(OSD_TIMER_SRC_TOTAL_ARMED, OSD_TIMER_PREC_TENTHS, 0);
// and
// default state values are set
setDefaultSimulationState();
@ -437,7 +477,6 @@ TEST(OsdTest, TestStatsMetric)
simulationAltitude = 200;
simulationTime += 1e6;
osdRefresh(simulationTime);
osdRefresh(simulationTime);
simulationBatteryVoltage = 1520;
simulationTime += 1e6;
@ -449,10 +488,7 @@ TEST(OsdTest, TestStatsMetric)
// then
// statistics screen should display the following
int row = 3;
displayPortTestBufferSubstring(2, row++, "2017-11-19 10:12:");
displayPortTestBufferSubstring(2, row++, "TOTAL ARM : 00:07.5");
displayPortTestBufferSubstring(2, row++, "LAST ARM : 00:02");
int row = 6;
displayPortTestBufferSubstring(2, row++, "MAX ALTITUDE : 2.0%c", SYM_M);
displayPortTestBufferSubstring(2, row++, "MAX SPEED : 28");
displayPortTestBufferSubstring(2, row++, "MAX DISTANCE : 100%c", SYM_M);
@ -472,9 +508,6 @@ TEST(OsdTest, TestStatsMetricDistanceUnits)
// using metric unit system
osdConfigMutable()->units = OSD_UNIT_METRIC;
// set timer 1 configuration to tenths precision
osdConfigMutable()->timers[OSD_TIMER_1] = OSD_TIMER(OSD_TIMER_SRC_TOTAL_ARMED, OSD_TIMER_PREC_TENTHS, 0);
// and
// default state values are set
setDefaultSimulationState();
@ -493,7 +526,6 @@ TEST(OsdTest, TestStatsMetricDistanceUnits)
simulationAltitude = 200;
simulationTime += 1e6;
osdRefresh(simulationTime);
osdRefresh(simulationTime);
simulationBatteryVoltage = 1520;
simulationTime += 1e6;
@ -505,10 +537,7 @@ TEST(OsdTest, TestStatsMetricDistanceUnits)
// then
// statistics screen should display the following
int row = 3;
displayPortTestBufferSubstring(2, row++, "2017-11-19 10:12:");
displayPortTestBufferSubstring(2, row++, "TOTAL ARM : 00:10.0");
displayPortTestBufferSubstring(2, row++, "LAST ARM : 00:02");
int row = 6;
displayPortTestBufferSubstring(2, row++, "MAX ALTITUDE : 2.0%c", SYM_M);
displayPortTestBufferSubstring(2, row++, "MAX SPEED : 28");
displayPortTestBufferSubstring(2, row++, "MAX DISTANCE : 1.15%c", SYM_KM);
@ -615,6 +644,8 @@ TEST(OsdTest, TestAlarms)
displayPortTestBufferIsEmpty();
}
}
doTestDisarm(true);
}
/*
@ -933,6 +964,18 @@ TEST(OsdTest, TestElementWarningsBattery)
simulationBatteryCellCount = 4;
// and
// used battery
simulationBatteryVoltage = ((batteryConfig()->vbatmaxcellvoltage - 20) * simulationBatteryCellCount) - 1;
simulationBatteryState = BATTERY_OK;
// when
displayClearScreen(&testDisplayPort);
osdRefresh(simulationTime);
// then
displayPortTestBufferSubstring(9, 10, "BATT < FULL");
// given
// full battery
simulationBatteryVoltage = 1680;
simulationBatteryState = BATTERY_OK;
@ -968,18 +1011,6 @@ TEST(OsdTest, TestElementWarningsBattery)
// then
displayPortTestBufferSubstring(9, 10, " LAND NOW ");
// given
// used battery
simulationBatteryVoltage = ((batteryConfig()->vbatmaxcellvoltage - 20) * simulationBatteryCellCount) - 1;
simulationBatteryState = BATTERY_OK;
// when
displayClearScreen(&testDisplayPort);
osdRefresh(simulationTime);
// then
displayPortTestBufferSubstring(9, 10, "BATT < FULL");
// given
// full battery
simulationBatteryVoltage = ((batteryConfig()->vbatmaxcellvoltage - 20) * simulationBatteryCellCount);