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Code Issues Wiki Activity

AIR MODE Safety Enhancements

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borisbstyle 2015-12-08 00:22:49 +01:00
parent 72e9a4dc17
commit b84e9f4676
5 changed files with 46 additions and 18 deletions
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39
src/main/mw.c
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@ -101,6 +101,10 @@ enum {
#define PREVENT_BARO_READ_PRE_LOOP_TRIGGER 150 // Prevent BARO processing before expected loop trigger
#define GYRO_RATE 0.001f // Gyro refresh rate 1khz
// AIR MODE Reset timers
#define ERROR_RESET_DEACTIVATE_DELAY (1 * 1000) // 1 sec delay to disable AIR MODE Iterm resetting
#define ERROR_RESET_ACTIVATE_DELAY (5 * 1000) // 5 sec delay to enable AIR MODE Iterm resetting
uint32_t currentTime = 0;
uint32_t previousTime = 0;
uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
@ -565,9 +569,36 @@ void processRx(void)
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (SHOULD_RESET_ERRORS) {
pidResetErrorAngle();
pidResetErrorGyro();
static bool airModeErrorResetIsEnabled = true; // Should always initialize with reset enabled
static uint32_t airModeErrorResetToggleTimeout = 0; // Timeout for both activate and deactivate mode
if (throttleStatus == THROTTLE_LOW) {
// Evaluate if the error needs resetting again. Should be entered when in air mode during landings etc...
if ((IS_RC_MODE_ACTIVE(BOXAIRMODE)) && !airModeErrorResetIsEnabled) {
if ((millis() > airModeErrorResetToggleTimeout) && isRollPitchCentered()) {
airModeErrorResetIsEnabled = true;
}
}
// Conditions to reset Error
if (!IS_RC_MODE_ACTIVE(BOXARM) || feature(FEATURE_MOTOR_STOP) || ((IS_RC_MODE_ACTIVE(BOXAIRMODE)) && airModeErrorResetIsEnabled)) {
pidResetErrorGyro();
airModeErrorResetToggleTimeout = millis() + ERROR_RESET_DEACTIVATE_DELAY; // Reset de-activate timer
}
} else {
if (!(feature(FEATURE_MOTOR_STOP)) && IS_RC_MODE_ACTIVE(BOXARM) && IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
if (airModeErrorResetIsEnabled) {
if ((millis() > airModeErrorResetToggleTimeout) && !isRollPitchCentered()) { // Only disable error reset when roll and pitch not centered
airModeErrorResetIsEnabled = false;
airModeErrorResetToggleTimeout = millis() + ERROR_RESET_ACTIVATE_DELAY; // Start reset activate timer
}
} else if (!airModeErrorResetIsEnabled) {
airModeErrorResetToggleTimeout = millis() + ERROR_RESET_ACTIVATE_DELAY; // Reset activate timer
}
} else {
airModeErrorResetIsEnabled = true; // This is needed to reset procedure when switch is toggled in air
}
}
// When armed and motors aren't spinning, do beeps and then disarm
@ -634,7 +665,6 @@ void processRx(void)
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
pidResetErrorAngle();
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
@ -646,7 +676,6 @@ void processRx(void)
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
pidResetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {