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First-cut of a refactored failsafe system.

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* fixes issue where indicators would flash when SBus RX entered failsafe
mode.
* fixes bug where turning off a TX for an SBus RX would instantly disarm
when using a switch to arm when the channel went outside the arming
range.
* introduces failsafe phases to make the system more understandable.
* allows the system to ask if rxSignalIsBeing received for all RX
systems: PPM/PWM/SerialRX/MSP.  Also works when a serial data signal is
still being received but the data stream indicates a failsafe condition
- e.g.  SBus failsafe flags.
* failsafe settings are no-longer per-profile.

Untested: Sumd/Sumh/XBus/MSP (!)
Tested: SBus X8R, Lemon RX Sat, X8R in PWM, Spektrum PPM.
This commit is contained in:
Dominic Clifton 2015-04-15 22:45:02 +01:00
parent 37e551db11
commit c8c0c85656
14 changed files with 260 additions and 145 deletions
Download patch file Download diff file Expand all files Collapse all files

31
src/main/io/beeper.c
View file

@ -49,9 +49,9 @@ static void beep_code(char first, char second, char third, char pause);
static uint8_t toggleBeep = 0;
typedef enum {
FAILSAFE_IDLE = 0,
FAILSAFE_LANDING,
FAILSAFE_FIND_ME
FAILSAFE_WARNING_NONE = 0,
FAILSAFE_WARNING_LANDING,
FAILSAFE_WARNING_FIND_ME
} failsafeBeeperWarnings_e;
void beepcodeInit(void)
@ -64,7 +64,7 @@ void beepcodeUpdateState(batteryState_e batteryState)
#ifdef GPS
static uint8_t warn_noGPSfix = 0;
#endif
static failsafeBeeperWarnings_e warn_failsafe = FAILSAFE_IDLE;
static failsafeBeeperWarnings_e warn_failsafe = FAILSAFE_WARNING_NONE;
//===================== BeeperOn via rcOptions =====================
if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) { // unconditional beeper on via AUXn switch
@ -74,20 +74,19 @@ void beepcodeUpdateState(batteryState_e batteryState)
}
//===================== Beeps for failsafe =====================
if (feature(FEATURE_FAILSAFE)) {
if (failsafeShouldForceLanding(ARMING_FLAG(ARMED))) {
warn_failsafe = FAILSAFE_LANDING;
if (failsafeShouldHaveCausedLandingByNow()) {
warn_failsafe = FAILSAFE_FIND_ME;
}
switch (failsafePhase()) {
case FAILSAFE_LANDING:
warn_failsafe = FAILSAFE_WARNING_LANDING;
break;
case FAILSAFE_LANDED:
warn_failsafe = FAILSAFE_WARNING_FIND_ME;
break;
default:
warn_failsafe = FAILSAFE_WARNING_NONE;
}
if (failsafeHasTimerElapsed() && !ARMING_FLAG(ARMED)) {
warn_failsafe = FAILSAFE_FIND_ME;
}
if (failsafeIsIdle()) {
warn_failsafe = FAILSAFE_IDLE; // turn off alarm if TX is okay
if (rxIsReceivingSignal()) {
warn_failsafe = FAILSAFE_WARNING_NONE;
}
}