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Failsafe - Add rxfail auto mode. Allow rxfail to be used for all

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channels, not just aux channel.
This commit is contained in:
Dominic Clifton 2015-08-20 01:25:32 +01:00
parent 5142ff032a
commit a030d4dd9e
6 changed files with 105 additions and 61 deletions
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67
src/main/io/serial_cli.c
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@ -169,6 +169,9 @@ static const char * const featureNames[] = {
"BLACKBOX", "CHANNEL_FORWARDING", NULL
};
// sync this with rxFailsafeChannelMode_e
static char rxFailsafeModes[RX_FAILSAFE_MODE_COUNT] = { 'a', 'h', 's'};
#ifndef CJMCU
// sync this with sensors_e
static const char * const sensorTypeNames[] = {
@ -573,23 +576,28 @@ static void cliRxFail(char *cmdline)
if (isEmpty(cmdline)) {
// print out rxConfig failsafe settings
for (channel = 0; channel < MAX_AUX_CHANNEL_COUNT; channel++) {
for (channel = 0; channel < MAX_SUPPORTED_RC_CHANNEL_COUNT; channel++) {
cliRxFail(itoa(channel, buf, 10));
}
} else {
char *ptr = cmdline;
channel = atoi(ptr++);
if ((channel < MAX_AUX_CHANNEL_COUNT)) {
if ((channel < MAX_SUPPORTED_RC_CHANNEL_COUNT)) {
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_aux_channel_configurations[channel];
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[channel];
uint16_t value;
rxFailsafeChannelMode_e mode;
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;
@ -601,34 +609,49 @@ static void cliRxFail(char *cmdline)
cliShowParseError();
return;
}
}
ptr = strchr(ptr, ' ');
if (ptr) {
value = atoi(++ptr);
value = CHANNEL_VALUE_TO_RXFAIL_STEP(value);
if (value > MAX_RXFAIL_RANGE_STEP) {
cliPrint("Value out of range\r\n");
return;
requireValue = mode == RX_FAILSAFE_MODE_SET;
ptr = strchr(ptr, ' ');
if (ptr) {
if (!requireValue) {
cliShowParseError();
return;
}
value = atoi(++ptr);
value = CHANNEL_VALUE_TO_RXFAIL_STEP(value);
if (value > MAX_RXFAIL_RANGE_STEP) {
cliPrint("Value out of range\r\n");
return;
}
channelFailsafeConfiguration->step = value;
}
channelFailsafeConfiguration->mode = mode;
channelFailsafeConfiguration->step = value;
}
char modeCharacter = channelFailsafeConfiguration->mode == RX_FAILSAFE_MODE_SET ? 's' : 'h';
char modeCharacter = rxFailsafeModes[channelFailsafeConfiguration->mode];
// triple use of printf below
// 1. acknowledge interpretation on command,
// 2. query current setting on single item,
// 3. recursive use for full list.
printf("rxfail %u %c %d\r\n",
channel,
modeCharacter,
RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfiguration->step)
);
if (requireValue) {
printf("rxfail %u %c %d\r\n",
channel,
modeCharacter,
RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfiguration->step)
);
} else {
printf("rxfail %u %c\r\n",
channel,
modeCharacter
);
}
} else {
printf("channel must be < %u\r\n", MAX_AUX_CHANNEL_COUNT);
cliShowArgumentRangeError("channel", 0, MAX_SUPPORTED_RC_CHANNEL_COUNT - 1);
}
}
}