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Update the failsafe so that an extra cycle is not required between some

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phase changes.
This commit is contained in:
Dominic Clifton 2015-04-17 00:10:35 +01:00
parent eb74735ee8
commit a34e8f0bdb
2 changed files with 54 additions and 40 deletions
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73
src/main/flight/failsafe.c
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@ -145,42 +145,59 @@ void failsafeUpdateState(void)
failsafeState.active = false;
}
switch (failsafeState.phase) {
case FAILSAFE_IDLE:
if (!receivingRxData && armed) {
failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED;
}
break;
case FAILSAFE_RX_LOSS_DETECTED:
if (failsafeShouldForceLanding(armed)) {
// Stabilize, and set Throttle to specified level
failsafeActivate();
}
break;
bool reprocessState;
case FAILSAFE_LANDING:
if (armed) {
failsafeApplyControlInput();
}
do {
reprocessState = false;
if (failsafeShouldHaveCausedLandingByNow() || !armed) {
switch (failsafeState.phase) {
case FAILSAFE_IDLE:
if (!receivingRxData && armed) {
failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED;
reprocessState = true;
}
break;
case FAILSAFE_RX_LOSS_DETECTED:
if (failsafeShouldForceLanding(armed)) {
// Stabilize, and set Throttle to specified level
failsafeActivate();
reprocessState = true;
}
break;
case FAILSAFE_LANDING:
if (armed) {
failsafeApplyControlInput();
}
if (failsafeShouldHaveCausedLandingByNow() || !armed) {
failsafeState.phase = FAILSAFE_LANDED;
reprocessState = true;
}
break;
case FAILSAFE_LANDED:
// This will prevent the automatic rearm if failsafe shuts it down and prevents
// to restart accidently by just reconnect to the tx - you will have to switch off first to rearm
ENABLE_ARMING_FLAG(PREVENT_ARMING);
failsafeState.phase = FAILSAFE_LANDED;
failsafeState.active = false;
mwDisarm();
}
break;
case FAILSAFE_LANDED:
// This will prevent the automatic rearm if failsafe shuts it down and prevents
// to restart accidently by just reconnect to the tx - you will have to switch off first to rearm
ENABLE_ARMING_FLAG(PREVENT_ARMING);
break;
break;
default:
break;
}
default:
break;
}
} while (reprocessState);
}