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Failsafe - Add rxfail auto mode. Allow rxfail to be used for all
channels, not just aux channel.
This commit is contained in:
Dominic Clifton
parent
5142ff032a
commit
a030d4dd9e
6 changed files with 105 additions and 61 deletions
38
docs/Rx.md
38
docs/Rx.md
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@ -133,7 +133,7 @@ The software has signal loss detection which is always enabled. Signal loss det
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The `rx_min_usec` and `rx_max_usec` settings helps detect when your RX stops sending any data, enters failsafe mode or when the RX looses signal.
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By default, when the signal loss is detected the FC will set pitch/roll/yaw to the value configured for `mid_rc`. The throttle will be set to the value configured for `rx_min_usec`.
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By default, when the signal loss is detected the FC will set pitch/roll/yaw to the value configured for `mid_rc`. The throttle will be set to the value configured for `rx_min_usec` or `mid_rc` if using 3D feature.
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Signal loss can be detected when:
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@ -141,29 +141,47 @@ Signal loss can be detected when:
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2. using Serial RX and receiver indicates failsafe condition.
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3. using any of the first 4 stick channels do not have a value in the range specified by `rx_min_usec` and `rx_max_usec`.
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#### `rxfail`
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### RX loss configuration
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The `rxfail` command is used to configure per-aux-channel rx-loss behaviour. Unless otherwise configured all AUX channels will HOLD the last value received. You can use the `rxfail` cli command to change this behaviour, a channel can either HOLD it's last value or be SET to a specific value.
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The `rxfail` cli command is used to configure per-channel rx-loss behaviour.
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You can use the `rxfail` command to change this behaviour, a channel can either be AUTOMATIC, HOLD or SET.
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* AUTOMATIC - Flight channels are set to safe values (low throttle, mid position for yaw/pitch/roll), all AUX channels HOLD last value.
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* HOLD - Channel holds the last value.
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* SET - Channel is set to a specific configured value.
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The default mode for all channels is AUTOMATIC.
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The rxfail command can be used in conjunction with mode ranges to trigger various actions.
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The `rxfail` command takes 3 arguments.
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The `rxfail` command takes 2 or 3 arguments.
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* Index of aux channel (AUX1 = 0, AUX2 = 1,...)
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* A mode ('h' = HOLD, 's' = SET)
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* A value to use when in SET mode. (always required, even if using HOLD mode).
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* Mode ('a' = AUTOMATIC, 'h' = HOLD, 's' = SET)
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* A value to use when in SET mode.
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Channels are always specified in the same order, regardless of your channel mapping.
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* Roll is 0
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* Pitch is 1
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* Yaw is 2
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* Throttle is 3.
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* Aux channels are 4 onwards.
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Examples:
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To make Throttle channel have an automatic value when RX loss is detected:
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`rxfail 3 a`
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To make AUX4 have a value of 2000 when RX loss is detected:
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`rxfail 3 s 2000`
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`rxfail 7 s 2000`
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To make AUX8 hold it's value when RX loss is detected:
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`rxfail 7 h 1500`
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In the above example the '1500' will be ignored.
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`rxfail 11 h`
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WARNING: Always make sure you test the behavior is as expected after configuring rxfail settings!
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#### `rx_min_usec`
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@ -128,7 +128,7 @@ static uint32_t activeFeaturesLatch = 0;
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static uint8_t currentControlRateProfileIndex = 0;
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controlRateConfig_t *currentControlRateProfile;
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static const uint8_t EEPROM_CONF_VERSION = 103;
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static const uint8_t EEPROM_CONF_VERSION = 104;
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static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
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{
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@ -405,10 +405,9 @@ static void resetConf(void)
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masterConfig.rxConfig.rx_min_usec = 885; // any of first 4 channels below this value will trigger rx loss detection
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masterConfig.rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection
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for (i = 0; i < MAX_AUX_CHANNEL_COUNT; i++) {
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rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_aux_channel_configurations[i];
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channelFailsafeConfiguration->mode = RX_FAILSAFE_MODE_HOLD;
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for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
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rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i];
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channelFailsafeConfiguration->mode = RX_FAILSAFE_MODE_AUTO;
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channelFailsafeConfiguration->step = CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
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}
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@ -169,6 +169,9 @@ static const char * const featureNames[] = {
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"BLACKBOX", "CHANNEL_FORWARDING", NULL
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};
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// sync this with rxFailsafeChannelMode_e
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static char rxFailsafeModes[RX_FAILSAFE_MODE_COUNT] = { 'a', 'h', 's'};
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#ifndef CJMCU
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// sync this with sensors_e
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static const char * const sensorTypeNames[] = {
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@ -573,23 +576,28 @@ static void cliRxFail(char *cmdline)
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if (isEmpty(cmdline)) {
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// print out rxConfig failsafe settings
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for (channel = 0; channel < MAX_AUX_CHANNEL_COUNT; channel++) {
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for (channel = 0; channel < MAX_SUPPORTED_RC_CHANNEL_COUNT; channel++) {
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cliRxFail(itoa(channel, buf, 10));
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}
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} else {
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char *ptr = cmdline;
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channel = atoi(ptr++);
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if ((channel < MAX_AUX_CHANNEL_COUNT)) {
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if ((channel < MAX_SUPPORTED_RC_CHANNEL_COUNT)) {
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rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_aux_channel_configurations[channel];
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rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[channel];
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uint16_t value;
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rxFailsafeChannelMode_e mode;
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rxFailsafeChannelMode_e mode = channelFailsafeConfiguration->mode;
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bool requireValue = channelFailsafeConfiguration->mode == RX_FAILSAFE_MODE_SET;
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// TODO optimize to use rxFailsafeModes - less logic.
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ptr = strchr(ptr, ' ');
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if (ptr) {
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switch (*(++ptr)) {
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case 'a':
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mode = RX_FAILSAFE_MODE_AUTO;
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break;
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case 'h':
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mode = RX_FAILSAFE_MODE_HOLD;
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break;
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@ -601,34 +609,49 @@ static void cliRxFail(char *cmdline)
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cliShowParseError();
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return;
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}
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}
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ptr = strchr(ptr, ' ');
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if (ptr) {
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value = atoi(++ptr);
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value = CHANNEL_VALUE_TO_RXFAIL_STEP(value);
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if (value > MAX_RXFAIL_RANGE_STEP) {
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cliPrint("Value out of range\r\n");
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return;
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requireValue = mode == RX_FAILSAFE_MODE_SET;
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ptr = strchr(ptr, ' ');
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if (ptr) {
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if (!requireValue) {
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cliShowParseError();
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return;
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}
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value = atoi(++ptr);
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value = CHANNEL_VALUE_TO_RXFAIL_STEP(value);
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if (value > MAX_RXFAIL_RANGE_STEP) {
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cliPrint("Value out of range\r\n");
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return;
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}
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channelFailsafeConfiguration->step = value;
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}
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channelFailsafeConfiguration->mode = mode;
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channelFailsafeConfiguration->step = value;
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}
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char modeCharacter = channelFailsafeConfiguration->mode == RX_FAILSAFE_MODE_SET ? 's' : 'h';
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char modeCharacter = rxFailsafeModes[channelFailsafeConfiguration->mode];
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// triple use of printf below
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// 1. acknowledge interpretation on command,
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// 2. query current setting on single item,
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// 3. recursive use for full list.
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printf("rxfail %u %c %d\r\n",
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channel,
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modeCharacter,
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RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfiguration->step)
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);
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if (requireValue) {
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printf("rxfail %u %c %d\r\n",
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channel,
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modeCharacter,
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RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfiguration->step)
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);
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} else {
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printf("rxfail %u %c\r\n",
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channel,
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modeCharacter
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);
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}
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} else {
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printf("channel must be < %u\r\n", MAX_AUX_CHANNEL_COUNT);
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cliShowArgumentRangeError("channel", 0, MAX_SUPPORTED_RC_CHANNEL_COUNT - 1);
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}
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}
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}
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@ -1171,10 +1171,10 @@ static bool processOutCommand(uint8_t cmdMSP)
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break;
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case MSP_RXFAIL_CONFIG:
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headSerialReply(3 * (rxRuntimeConfig.channelCount - NON_AUX_CHANNEL_COUNT));
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for (i = NON_AUX_CHANNEL_COUNT; i < rxRuntimeConfig.channelCount; i++) {
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serialize8(masterConfig.rxConfig.failsafe_aux_channel_configurations[i - NON_AUX_CHANNEL_COUNT].mode);
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serialize16(RXFAIL_STEP_TO_CHANNEL_VALUE(masterConfig.rxConfig.failsafe_aux_channel_configurations[i - NON_AUX_CHANNEL_COUNT].step));
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headSerialReply(3 * (rxRuntimeConfig.channelCount));
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for (i = 0; i < rxRuntimeConfig.channelCount; i++) {
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serialize8(masterConfig.rxConfig.failsafe_channel_configurations[i].mode);
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serialize16(RXFAIL_STEP_TO_CHANNEL_VALUE(masterConfig.rxConfig.failsafe_channel_configurations[i].step));
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}
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break;
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@ -1606,12 +1606,12 @@ static bool processInCommand(void)
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case MSP_SET_RXFAIL_CONFIG:
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{
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uint8_t channelCount = currentPort->dataSize / 3;
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if (channelCount > MAX_AUX_CHANNEL_COUNT) {
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if (channelCount > MAX_SUPPORTED_RC_CHANNEL_COUNT) {
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headSerialError(0);
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} else {
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for (i = NON_AUX_CHANNEL_COUNT; i < channelCount; i++) {
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masterConfig.rxConfig.failsafe_aux_channel_configurations[i - NON_AUX_CHANNEL_COUNT].mode = read8();
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masterConfig.rxConfig.failsafe_aux_channel_configurations[i - NON_AUX_CHANNEL_COUNT].step = CHANNEL_VALUE_TO_RXFAIL_STEP(read16());
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for (i = 0; i < channelCount; i++) {
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masterConfig.rxConfig.failsafe_channel_configurations[i].mode = read8();
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masterConfig.rxConfig.failsafe_channel_configurations[i].step = CHANNEL_VALUE_TO_RXFAIL_STEP(read16());
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}
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}
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}
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@ -326,22 +326,23 @@ static uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample)
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static uint16_t getRxfailValue(uint8_t channel)
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{
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switch (channel) {
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case ROLL:
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case PITCH:
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case YAW:
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return rxConfig->midrc;
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case THROTTLE:
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if (feature(FEATURE_3D))
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return rxConfig->midrc;
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else
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return rxConfig->rx_min_usec;
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}
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rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &rxConfig->failsafe_aux_channel_configurations[channel - NON_AUX_CHANNEL_COUNT];
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rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &rxConfig->failsafe_channel_configurations[channel];
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switch(channelFailsafeConfiguration->mode) {
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default:
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case RX_FAILSAFE_MODE_AUTO:
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switch (channel) {
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case ROLL:
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case PITCH:
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case YAW:
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return rxConfig->midrc;
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case THROTTLE:
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if (feature(FEATURE_3D))
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return rxConfig->midrc;
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else
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return rxConfig->rx_min_usec;
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}
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// fall though to HOLD if there's nothing specific to do.
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case RX_FAILSAFE_MODE_HOLD:
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return rcData[channel];
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@ -82,10 +82,13 @@ extern int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2
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#define RSSI_SCALE_DEFAULT 30
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typedef enum {
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RX_FAILSAFE_MODE_HOLD = 0,
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RX_FAILSAFE_MODE_SET
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RX_FAILSAFE_MODE_AUTO = 0,
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RX_FAILSAFE_MODE_HOLD,
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RX_FAILSAFE_MODE_SET,
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} rxFailsafeChannelMode_e;
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#define RX_FAILSAFE_MODE_COUNT 3
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typedef struct rxFailsafeChannelConfiguration_s {
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uint8_t mode; // See rxFailsafeChannelMode_e
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uint8_t step;
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@ -109,7 +112,7 @@ typedef struct rxConfig_s {
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uint16_t rx_min_usec;
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uint16_t rx_max_usec;
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rxFailsafeChannelConfiguration_t failsafe_aux_channel_configurations[MAX_AUX_CHANNEL_COUNT];
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rxFailsafeChannelConfiguration_t failsafe_channel_configurations[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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rxChannelRangeConfiguration_t channelRanges[NON_AUX_CHANNEL_COUNT];
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} rxConfig_t;
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