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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/mw.c
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@ -509,8 +509,8 @@ void processRx(void)
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsEnabled()) {
failsafeEnable();
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
@ -527,7 +527,8 @@ void processRx(void)
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING)
&& masterConfig.auto_disarm_delay != 0
&& isUsingSticksForArming()) {
&& isUsingSticksForArming())
{
if (throttleStatus == THROTTLE_LOW) {
if ((int32_t)(disarmAt - millis()) < 0) // delay is over
mwDisarm();
@ -551,7 +552,7 @@ void processRx(void)
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeHasTimerElapsed())) && (sensors(SENSOR_ACC))) {
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
@ -628,7 +629,7 @@ void loop(void)
static bool haveProcessedAnnexCodeOnce = false;
#endif
updateRx();
updateRx(currentTime);
if (shouldProcessRx(currentTime)) {
processRx();