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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

11
src/main/io/serial_cli.c
View file

@ -404,11 +404,12 @@ const clivalue_t valueTable[] = {
{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, 0, CONTROL_RATE_CONFIG_TPA_MAX},
{ "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
{ "failsafe_delay", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
{ "failsafe_min_usec", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_min_usec, 100, PWM_RANGE_MAX },
{ "failsafe_max_usec", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_max_usec, 100, PWM_RANGE_MAX + (PWM_RANGE_MAX - PWM_RANGE_MIN) },
{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_min_usec, 100, PWM_RANGE_MAX },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, 100, PWM_RANGE_MAX + (PWM_RANGE_MAX - PWM_RANGE_MIN) },
#ifdef USE_SERVOS
{ "gimbal_flags", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gimbalConfig.gimbal_flags, 0, 255},