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Inhibit Dshot motor beeping while motors are running (armed or motor test).

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This commit is contained in:
mikeller 2017-08-22 22:54:55 +12:00
parent dfe868ef96
commit c8f528c0af
5 changed files with 27 additions and 24 deletions
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19
src/main/blackbox/blackbox.c
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@ -925,25 +925,8 @@ void stopInTestMode(void)
*/ */
bool inMotorTestMode(void) { bool inMotorTestMode(void) {
static uint32_t resetTime = 0; static uint32_t resetTime = 0;
uint16_t inactiveMotorCommand;
if (feature(FEATURE_3D)) {
inactiveMotorCommand = flight3DConfig()->neutral3d;
#ifdef USE_DSHOT
} else if (isMotorProtocolDshot()) {
inactiveMotorCommand = DSHOT_DISARM_COMMAND;
#endif
} else {
inactiveMotorCommand = motorConfig()->mincommand;
}
int i; if (!ARMING_FLAG(ARMED) && areMotorsRunning()) {
bool atLeastOneMotorActivated = false;
// set disarmed motor values
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
atLeastOneMotorActivated |= (motor_disarmed[i] != inactiveMotorCommand);
if (atLeastOneMotorActivated) {
resetTime = millis() + 5000; // add 5 seconds resetTime = millis() + 5000; // add 5 seconds
return true; return true;
} else { } else {

22
src/main/flight/mixer.c
View file

@ -316,16 +316,34 @@ static float disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
float motorOutputHigh, motorOutputLow; float motorOutputHigh, motorOutputLow;
static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh; static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
uint8_t getMotorCount() uint8_t getMotorCount(void)
{ {
return motorCount; return motorCount;
} }
float getMotorMixRange() float getMotorMixRange(void)
{ {
return motorMixRange; return motorMixRange;
} }
bool areMotorsRunning(void)
{
bool motorsRunning = false;
if (ARMING_FLAG(ARMED)) {
motorsRunning = true;
} else {
for (int i = 0; i < motorCount; i++) {
if (motor_disarmed[i] != disarmMotorOutput) {
motorsRunning = true;
break;
}
}
}
return motorsRunning;
}
bool mixerIsOutputSaturated(int axis, float errorRate) bool mixerIsOutputSaturated(int axis, float errorRate)
{ {
if (axis == FD_YAW && (currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI)) { if (axis == FD_YAW && (currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI)) {

5
src/main/flight/mixer.h
View file

@ -107,8 +107,9 @@ extern float motor[MAX_SUPPORTED_MOTORS];
extern float motor_disarmed[MAX_SUPPORTED_MOTORS]; extern float motor_disarmed[MAX_SUPPORTED_MOTORS];
struct rxConfig_s; struct rxConfig_s;
uint8_t getMotorCount(); uint8_t getMotorCount(void);
float getMotorMixRange(); float getMotorMixRange(void);
bool areMotorsRunning(void);
bool mixerIsOutputSaturated(int axis, float errorRate); bool mixerIsOutputSaturated(int axis, float errorRate);
void mixerLoadMix(int index, motorMixer_t *customMixers); void mixerLoadMix(int index, motorMixer_t *customMixers);

2
src/main/io/beeper.c
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@ -363,7 +363,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
} }
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (!ARMING_FLAG(ARMED) && beeperConfig()->dshotForward && currentBeeperEntry->mode == BEEPER_RX_SET) { if (!areMotorsRunning() && beeperConfig()->dshotForward && currentBeeperEntry->mode == BEEPER_RX_SET) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_BEEP3); pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_BEEP3);
} }
#endif #endif

3
src/test/unit/blackbox_unittest.cc
View file

@ -376,7 +376,8 @@ uint32_t rcModeActivationMask;
void mspSerialAllocatePorts(void) {} void mspSerialAllocatePorts(void) {}
uint32_t getArmingBeepTimeMicros(void) {return 0;} uint32_t getArmingBeepTimeMicros(void) {return 0;}
uint16_t getBatteryVoltageLatest(void) {return 0;} uint16_t getBatteryVoltageLatest(void) {return 0;}
uint8_t getMotorCount() {return 4;} uint8_t getMotorCount(void) {return 4;}
bool areMotorsRunning(void) { return false; }
bool IS_RC_MODE_ACTIVE(boxId_e) {return false;} bool IS_RC_MODE_ACTIVE(boxId_e) {return false;}
bool isModeActivationConditionPresent(boxId_e) {return false;} bool isModeActivationConditionPresent(boxId_e) {return false;}
uint32_t millis(void) {return 0;} uint32_t millis(void) {return 0;}