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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
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4
src/main/io/serial_msp.c
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@ -1003,7 +1003,7 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize16(masterConfig.escAndServoConfig.maxthrottle);
serialize16(masterConfig.escAndServoConfig.mincommand);
serialize16(currentProfile->failsafeConfig.failsafe_throttle);
serialize16(masterConfig.failsafeConfig.failsafe_throttle);
#ifdef GPS
serialize8(masterConfig.gpsConfig.provider); // gps_type
@ -1378,7 +1378,7 @@ static bool processInCommand(void)
masterConfig.escAndServoConfig.maxthrottle = read16();
masterConfig.escAndServoConfig.mincommand = read16();
currentProfile->failsafeConfig.failsafe_throttle = read16();
masterConfig.failsafeConfig.failsafe_throttle = read16();
#ifdef GPS
masterConfig.gpsConfig.provider = read8(); // gps_type