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Merge pull request #7924 from mikeller/add_crash_recovery_disarm

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Added 'disarm' option to crash recovery.
This commit is contained in:
Michael Keller 2019-04-14 21:49:05 +12:00 • committed by GitHub
commit b468b94995
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GPG key ID: 4AEE18F83AFDEB23
10 changed files with 38 additions and 27 deletions
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2
src/main/cli/settings.c
View file

@ -150,7 +150,7 @@ static const char * const lookupTableOffOn[] = {
}; };
static const char * const lookupTableCrashRecovery[] = { static const char * const lookupTableCrashRecovery[] = {
"OFF", "ON" ,"BEEP" "OFF", "ON" ,"BEEP", "DISARM"
}; };
static const char * const lookupTableUnit[] = { static const char * const lookupTableUnit[] = {

7
src/main/fc/core.c
View file

@ -318,11 +318,12 @@ void updateArmingStatus(void)
&& !flight3DConfig()->switched_mode3d && !flight3DConfig()->switched_mode3d
&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE)); && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
#ifdef USE_RUNAWAY_TAKEOFF
if (!IS_RC_MODE_ACTIVE(BOXARM)) { if (!IS_RC_MODE_ACTIVE(BOXARM)) {
#ifdef USE_RUNAWAY_TAKEOFF
unsetArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF); unsetArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF);
}
#endif #endif
unsetArmingDisabled(ARMING_DISABLED_CRASH_DETECTED);
}
// If arming is disabled and the ARM switch is on // If arming is disabled and the ARM switch is on
if (isArmingDisabled() if (isArmingDisabled()
@ -371,7 +372,7 @@ void disarm(void)
flipOverAfterCrashActive = false; flipOverAfterCrashActive = false;
// if ARMING_DISABLED_RUNAWAY_TAKEOFF is set then we want to play it's beep pattern instead // if ARMING_DISABLED_RUNAWAY_TAKEOFF is set then we want to play it's beep pattern instead
if (!(getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF)) { if (!(getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
beeper(BEEPER_DISARMING); // emit disarm tone beeper(BEEPER_DISARMING); // emit disarm tone
} }
} }

3
src/main/fc/rc_controls.c
View file

@ -208,6 +208,7 @@ void processRcStickPositions()
// before they're able to rearm // before they're able to rearm
unsetArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF); unsetArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF);
#endif #endif
unsetArmingDisabled(ARMING_DISABLED_CRASH_DETECTED);
} }
} }
return; return;
@ -230,7 +231,7 @@ void processRcStickPositions()
resetTryingToArm(); resetTryingToArm();
} }
if (ARMING_FLAG(ARMED) || doNotRepeat || rcDelayMs <= STICK_DELAY_MS || (getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF)) { if (ARMING_FLAG(ARMED) || doNotRepeat || rcDelayMs <= STICK_DELAY_MS || (getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
return; return;
} }
doNotRepeat = true; doNotRepeat = true;

1
src/main/fc/runtime_config.c
View file

@ -40,6 +40,7 @@ const char *armingDisableFlagNames[]= {
"BADRX", "BADRX",
"BOXFAILSAFE", "BOXFAILSAFE",
"RUNAWAY", "RUNAWAY",
"CRASH",
"THROTTLE", "THROTTLE",
"ANGLE", "ANGLE",
"BOOTGRACE", "BOOTGRACE",

31
src/main/fc/runtime_config.h
View file

@ -46,21 +46,22 @@ typedef enum {
ARMING_DISABLED_BAD_RX_RECOVERY = (1 << 3), ARMING_DISABLED_BAD_RX_RECOVERY = (1 << 3),
ARMING_DISABLED_BOXFAILSAFE = (1 << 4), ARMING_DISABLED_BOXFAILSAFE = (1 << 4),
ARMING_DISABLED_RUNAWAY_TAKEOFF = (1 << 5), ARMING_DISABLED_RUNAWAY_TAKEOFF = (1 << 5),
ARMING_DISABLED_THROTTLE = (1 << 6), ARMING_DISABLED_CRASH_DETECTED = (1 << 6),
ARMING_DISABLED_ANGLE = (1 << 7), ARMING_DISABLED_THROTTLE = (1 << 7),
ARMING_DISABLED_BOOT_GRACE_TIME = (1 << 8), ARMING_DISABLED_ANGLE = (1 << 8),
ARMING_DISABLED_NOPREARM = (1 << 9), ARMING_DISABLED_BOOT_GRACE_TIME = (1 << 9),
ARMING_DISABLED_LOAD = (1 << 10), ARMING_DISABLED_NOPREARM = (1 << 10),
ARMING_DISABLED_CALIBRATING = (1 << 11), ARMING_DISABLED_LOAD = (1 << 11),
ARMING_DISABLED_CLI = (1 << 12), ARMING_DISABLED_CALIBRATING = (1 << 12),
ARMING_DISABLED_CMS_MENU = (1 << 13), ARMING_DISABLED_CLI = (1 << 13),
ARMING_DISABLED_BST = (1 << 14), ARMING_DISABLED_CMS_MENU = (1 << 14),
ARMING_DISABLED_MSP = (1 << 15), ARMING_DISABLED_BST = (1 << 15),
ARMING_DISABLED_PARALYZE = (1 << 16), ARMING_DISABLED_MSP = (1 << 16),
ARMING_DISABLED_GPS = (1 << 17), ARMING_DISABLED_PARALYZE = (1 << 17),
ARMING_DISABLED_RESC = (1 << 18), ARMING_DISABLED_GPS = (1 << 18),
ARMING_DISABLED_RPMFILTER = (1 << 19), ARMING_DISABLED_RESC = (1 << 19),
ARMING_DISABLED_ARM_SWITCH = (1 << 20), // Needs to be the last element, since it's always activated if one of the others is active when arming ARMING_DISABLED_RPMFILTER = (1 << 20),
ARMING_DISABLED_ARM_SWITCH = (1 << 21), // Needs to be the last element, since it's always activated if one of the others is active when arming
} armingDisableFlags_e; } armingDisableFlags_e;
#define ARMING_DISABLE_FLAGS_COUNT (LOG2(ARMING_DISABLED_ARM_SWITCH) + 1) #define ARMING_DISABLE_FLAGS_COUNT (LOG2(ARMING_DISABLED_ARM_SWITCH) + 1)

9
src/main/flight/pid.c
View file

@ -877,8 +877,13 @@ static void detectAndSetCrashRecovery(
&& fabsf(delta) > crashDtermThreshold && fabsf(delta) > crashDtermThreshold
&& fabsf(errorRate) > crashGyroThreshold && fabsf(errorRate) > crashGyroThreshold
&& fabsf(getSetpointRate(axis)) < crashSetpointThreshold) { && fabsf(getSetpointRate(axis)) < crashSetpointThreshold) {
inCrashRecoveryMode = true; if (crash_recovery == PID_CRASH_RECOVERY_DISARM) {
crashDetectedAtUs = currentTimeUs; setArmingDisabled(ARMING_DISABLED_CRASH_DETECTED);
disarm();
} else {
inCrashRecoveryMode = true;
crashDetectedAtUs = currentTimeUs;
}
} }
if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (fabsf(errorRate) < crashGyroThreshold if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (fabsf(errorRate) < crashGyroThreshold
|| fabsf(getSetpointRate(axis)) > crashSetpointThreshold)) { || fabsf(getSetpointRate(axis)) > crashSetpointThreshold)) {

3
src/main/flight/pid.h
View file

@ -71,7 +71,8 @@ typedef enum {
typedef enum { typedef enum {
PID_CRASH_RECOVERY_OFF = 0, PID_CRASH_RECOVERY_OFF = 0,
PID_CRASH_RECOVERY_ON, PID_CRASH_RECOVERY_ON,
PID_CRASH_RECOVERY_BEEP PID_CRASH_RECOVERY_BEEP,
PID_CRASH_RECOVERY_DISARM,
} pidCrashRecovery_e; } pidCrashRecovery_e;
typedef struct pidf_s { typedef struct pidf_s {

6
src/main/io/rcdevice_cam.c
View file

@ -89,7 +89,7 @@ static void rcdeviceCameraControlProcess(void)
// avoid display wifi page when arming, in the next firmware(>2.0) of rcsplit we have change the wifi page logic: // avoid display wifi page when arming, in the next firmware(>2.0) of rcsplit we have change the wifi page logic:
// when the wifi was turn on it won't turn off the analog video output, // when the wifi was turn on it won't turn off the analog video output,
// and just put a wifi indicator on the right top of the video output. here is for the old split firmware // and just put a wifi indicator on the right top of the video output. here is for the old split firmware
if (!ARMING_FLAG(ARMED) && ((getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF) == 0)) { if (!ARMING_FLAG(ARMED) && !(getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_WIFI_BTN; behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_WIFI_BTN;
} }
} }
@ -102,7 +102,7 @@ static void rcdeviceCameraControlProcess(void)
case BOXCAMERA3: case BOXCAMERA3:
if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE)) { if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE)) {
// avoid change camera mode when arming // avoid change camera mode when arming
if (!ARMING_FLAG(ARMED) && ((getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF) == 0)) { if (!ARMING_FLAG(ARMED) && !(getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
behavior = RCDEVICE_PROTOCOL_CAM_CTRL_CHANGE_MODE; behavior = RCDEVICE_PROTOCOL_CAM_CTRL_CHANGE_MODE;
} }
} }
@ -236,7 +236,7 @@ static void rcdevice5KeySimulationProcess(timeUs_t currentTimeUs)
} }
#endif #endif
if (ARMING_FLAG(ARMED) || getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF) { if (ARMING_FLAG(ARMED) || (getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
return; return;
} }

2
src/main/osd/osd.c
View file

@ -629,7 +629,7 @@ STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
resumeRefreshAt = currentTimeUs + (REFRESH_1S / 2); resumeRefreshAt = currentTimeUs + (REFRESH_1S / 2);
} else if (isSomeStatEnabled() } else if (isSomeStatEnabled()
&& !suppressStatsDisplay && !suppressStatsDisplay
&& (!(getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF) && (!(getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))
|| !VISIBLE(osdConfig()->item_pos[OSD_WARNINGS]))) { // suppress stats if runaway takeoff triggered disarm and WARNINGS element is visible || !VISIBLE(osdConfig()->item_pos[OSD_WARNINGS]))) { // suppress stats if runaway takeoff triggered disarm and WARNINGS element is visible
osdStatsEnabled = true; osdStatsEnabled = true;
resumeRefreshAt = currentTimeUs + (60 * REFRESH_1S); resumeRefreshAt = currentTimeUs + (60 * REFRESH_1S);

1
src/test/unit/pid_unittest.cc
View file

@ -79,6 +79,7 @@ extern "C" {
float getRcDeflection(int axis) { return simulatedRcDeflection[axis]; } float getRcDeflection(int axis) { return simulatedRcDeflection[axis]; }
void beeperConfirmationBeeps(uint8_t) { } void beeperConfirmationBeeps(uint8_t) { }
bool isLaunchControlActive(void) {return unitLaunchControlActive; } bool isLaunchControlActive(void) {return unitLaunchControlActive; }
void disarm(void) { }
} }
pidProfile_t *pidProfile; pidProfile_t *pidProfile;