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Improved RX failsafe detection & handling

Browse source 
modified debug output (currently disabled)

To solve problem as indicated here:
https://github.com/cleanflight/cleanflight/issues/1266#issuecomment-135640133

and here:
https://github.com/cleanflight/cleanflight/pull/1340

and here:
https://github.com/cleanflight/cleanflight/pull/1342

Tested on FrSKY X4RSB with latest CPPM firmware (non-EU version).
Firmware filename: X4R-X4RSB_cppm_non-EU_150630

In both SBUS and CPPM mode.

---
Added delay to rxfail detection

All channels are monitored for bad (out of valid range) pulses.
On bad pulses channel data will HOLD the last value for a period of
MAX_INVALID_PULS_TIME (300ms) before starting rxfail substitution.
This should prevent a too aggressive reaction to small dropouts.

---
Init ARM switch rc channel to OFF for safety

Initialize ARM switch to OFF position when arming via switch is defined.
To prevent arming during init when RX is disconnected and/or when RX is
connected but TX is still off.

---
Modified rx_rx_unittest.cc

Adapted because rxInit() parameters changed.
Added tests for ARM switch initialization.
No further tests added.

---
Move smoothing of rcData to rcCommand

Commit from @borisbstyle pr #1418
rc_smoothing function has changed to leave rcData unchanged in #1418
This commit is contained in:
ProDrone 2015-09-29 17:50:31 +02:00
parent efc31f9d57
commit a64e2c4f1a
4 changed files with 93 additions and 29 deletions
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4
src/main/main.c
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@ -112,7 +112,7 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers, servoMixe
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
#endif
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
void rxInit(rxConfig_t *rxConfig);
void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationConditions);
void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
void imuInit(void);
@ -406,7 +406,7 @@ void init(void)
failsafeInit(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
rxInit(&masterConfig.rxConfig);
rxInit(&masterConfig.rxConfig, currentProfile->modeActivationConditions);
#ifdef GPS
if (feature(FEATURE_GPS)) {