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Merge pull request #5172 from etracer65/runaway_takeoff_disable_benchtest

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Runaway Takeoff Prevention - temporarily disable during configurator bench testing
This commit is contained in:
Michael Keller 2018-02-15 13:25:08 +13:00 • committed by GitHub
commit b0ade55c95
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3 changed files with 23 additions and 0 deletions
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11
src/main/fc/fc_core.c
View file

@ -127,6 +127,7 @@ static timeUs_t runawayTakeoffDeactivateUs = 0;
static timeUs_t runawayTakeoffAccumulatedUs = 0;
static bool runawayTakeoffCheckDisabled = false;
static timeUs_t runawayTakeoffTriggerUs = 0;
static bool runawayTakeoffTemporarilyDisabled = false;
#endif
@ -444,6 +445,14 @@ bool areSticksActive(uint8_t stickPercentLimit)
}
return false;
}
// allow temporarily disabling runaway takeoff prevention if we are connected
// to the configurator and the ARMING_DISABLED_MSP flag is cleared.
void runawayTakeoffTemporaryDisable(uint8_t disableFlag)
{
runawayTakeoffTemporarilyDisabled = disableFlag;
}
#endif
@ -530,6 +539,7 @@ bool processRx(timeUs_t currentTimeUs)
&& pidConfig()->runaway_takeoff_prevention
&& !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashMode
&& !runawayTakeoffTemporarilyDisabled
&& !STATE(FIXED_WING)) {
// Determine if we're in "flight"
@ -767,6 +777,7 @@ static void subTaskPidController(timeUs_t currentTimeUs)
&& pidConfig()->runaway_takeoff_prevention
&& !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashMode
&& !runawayTakeoffTemporarilyDisabled
&& (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
const float runawayTakeoffThreshold = pidConfig()->runaway_takeoff_threshold * 10.0f;

2
src/main/fc/fc_core.h
View file

@ -48,3 +48,5 @@ void updateRcCommands(void);
void taskMainPidLoop(timeUs_t currentTimeUs);
bool isFlipOverAfterCrashMode(void);
void runawayTakeoffTemporaryDisable(uint8_t disableFlag);

10
src/main/interface/msp.c
View file

@ -1777,13 +1777,23 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_ARMING_DISABLED:
{
const uint8_t command = sbufReadU8(src);
uint8_t disableRunawayTakeoff = 0;
if (sbufBytesRemaining(src)) {
disableRunawayTakeoff = sbufReadU8(src);
}
if (command) {
setArmingDisabled(ARMING_DISABLED_MSP);
if (ARMING_FLAG(ARMED)) {
disarm();
}
#ifdef USE_RUNAWAY_TAKEOFF
runawayTakeoffTemporaryDisable(false);
#endif
} else {
unsetArmingDisabled(ARMING_DISABLED_MSP);
#ifdef USE_RUNAWAY_TAKEOFF
runawayTakeoffTemporaryDisable(disableRunawayTakeoff);
#endif
}
}
break;