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Add prevention for turning radio on at any time with arm switch on

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This commit is contained in:
Dan Nixon 2017-08-13 16:05:48 +01:00
parent 0c0483d020
commit ad540d8ad8
4 changed files with 102 additions and 18 deletions
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18
src/main/fc/fc_core.c
View file

@ -158,6 +158,24 @@ void updateArmingStatus(void)
unsetArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
}
// If switch is used for arming then check it is not defaulting to on when the RX link recovers from a fault
if (!isUsingSticksForArming()) {
static bool hadRx = false;
const bool haveRx = rxIsReceivingSignal();
const bool justGotRxBack = !hadRx && haveRx;
if (justGotRxBack && IS_RC_MODE_ACTIVE(BOXARM)) {
// If the RX has just started to receive a signal again and the arm switch is on, apply arming restriction
setArmingDisabled(ARMING_DISABLED_BAD_RX_RECOVERY);
} else if (haveRx && !IS_RC_MODE_ACTIVE(BOXARM)) {
// If RX signal is OK and the arm switch is off, remove arming restriction
unsetArmingDisabled(ARMING_DISABLED_BAD_RX_RECOVERY);
}
hadRx = haveRx;
}
if (IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
setArmingDisabled(ARMING_DISABLED_BOXFAILSAFE);
} else {

6
src/main/fc/runtime_config.c
View file

@ -31,9 +31,9 @@ static uint32_t enabledSensors = 0;
#if defined(OSD) || !defined(MINIMAL_CLI)
const char *armingDisableFlagNames[]= {
"NOGYRO", "FAILSAFE", "RX LOSS", "BOXFAILSAFE", "THROTTLE",
"ANGLE", "BOOT GRACE", "NO PREARM", "ARM SWITCH", "LOAD",
"CALIB", "CLI", "CMS", "OSD", "BST"
"NOGYRO", "FAILSAFE", "RX LOSS", "BAD RX", "BOXFAILSAFE",
"THROTTLE", "ANGLE", "BOOT GRACE", "NO PREARM", "ARM SWITCH",
"LOAD", "CALIB", "CLI", "CMS", "OSD", "BST"
};
#endif

27
src/main/fc/runtime_config.h
View file

@ -38,21 +38,22 @@ typedef enum {
ARMING_DISABLED_NO_GYRO = (1 << 0),
ARMING_DISABLED_FAILSAFE = (1 << 1),
ARMING_DISABLED_RX_FAILSAFE = (1 << 2),
ARMING_DISABLED_BOXFAILSAFE = (1 << 3),
ARMING_DISABLED_THROTTLE = (1 << 4),
ARMING_DISABLED_ANGLE = (1 << 5),
ARMING_DISABLED_BOOT_GRACE_TIME = (1 << 6),
ARMING_DISABLED_NOPREARM = (1 << 7),
ARMING_DISABLED_ARM_SWITCH = (1 << 8),
ARMING_DISABLED_LOAD = (1 << 9),
ARMING_DISABLED_CALIBRATING = (1 << 10),
ARMING_DISABLED_CLI = (1 << 11),
ARMING_DISABLED_CMS_MENU = (1 << 12),
ARMING_DISABLED_OSD_MENU = (1 << 13),
ARMING_DISABLED_BST = (1 << 14)
ARMING_DISABLED_BAD_RX_RECOVERY = (1 << 3),
ARMING_DISABLED_BOXFAILSAFE = (1 << 4),
ARMING_DISABLED_THROTTLE = (1 << 5),
ARMING_DISABLED_ANGLE = (1 << 6),
ARMING_DISABLED_BOOT_GRACE_TIME = (1 << 7),
ARMING_DISABLED_NOPREARM = (1 << 8),
ARMING_DISABLED_ARM_SWITCH = (1 << 9),
ARMING_DISABLED_LOAD = (1 << 10),
ARMING_DISABLED_CALIBRATING = (1 << 11),
ARMING_DISABLED_CLI = (1 << 12),
ARMING_DISABLED_CMS_MENU = (1 << 13),
ARMING_DISABLED_OSD_MENU = (1 << 14),
ARMING_DISABLED_BST = (1 << 15)
} armingDisableFlags_e;
#define NUM_ARMING_DISABLE_FLAGS 15
#define NUM_ARMING_DISABLE_FLAGS 16
#if defined(OSD) || !defined(MINIMAL_CLI)
extern const char *armingDisableFlagNames[NUM_ARMING_DISABLE_FLAGS];

69
src/test/unit/arming_prevention_unittest.cc
View file

@ -67,6 +67,7 @@ extern "C" {
uint32_t simulationTime = 0;
bool gyroCalibDone = false;
bool simulationHaveRx = false;
#include "gtest/gtest.h"
@ -159,7 +160,6 @@ TEST(ArmingPreventionTest, CalibrationPowerOnGraceAngleThrottleArmSwitch)
EXPECT_EQ(0, getArmingDisableFlags());
EXPECT_FALSE(isArmingDisabled());
}
TEST(ArmingPreventionTest, ArmingGuardRadioLeftOnAndArmed)
{
// given
@ -281,11 +281,76 @@ TEST(ArmingPreventionTest, Prearm)
EXPECT_FALSE(isArmingDisabled());
}
TEST(ArmingPreventionTest, RadioTurnedOnAtAnyTimeArmed)
{
// given
simulationTime = 30e6; // 30 seconds after boot
gyroCalibDone = true;
// and
modeActivationConditionsMutable(0)->auxChannelIndex = 0;
modeActivationConditionsMutable(0)->modeId = BOXARM;
modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
useRcControlsConfig(NULL);
// and
rxConfigMutable()->mincheck = 1050;
// and
rcData[THROTTLE] = 1000;
ENABLE_STATE(SMALL_ANGLE);
// and
// RX has no link to radio
simulationHaveRx = false;
// and
// arm channel has a safe default value
rcData[4] = 1100;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
// given
// RF link is established and arm switch is turned on on radio
simulationHaveRx = true;
rcData[4] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_BAD_RX_RECOVERY | ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// arm switch turned off by user
rcData[4] = 1100;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
}
// STUBS
extern "C" {
uint32_t micros(void) { return simulationTime; }
uint32_t millis(void) { return micros() / 1000; }
bool rxIsReceivingSignal(void) { return false; }
bool rxIsReceivingSignal(void) { return simulationHaveRx; }
bool feature(uint32_t) { return false; }
void warningLedFlash(void) {}