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Fix 3D arming checks when using switched 3D mode

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When FEATURE_3D is on and BOX3DONASWITCH is configured the "standard"
throttle arming condition is used.
This commit is contained in:
Dan Nixon 2017-11-08 19:00:52 +00:00
parent 0315005445
commit c97fbd04b8
2 changed files with 97 additions and 8 deletions
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1
src/main/fc/fc_core.c
View file

@ -221,6 +221,7 @@ void updateArmingStatus(void)
/* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */
bool ignoreThrottle = feature(FEATURE_3D)
&& !IS_RC_MODE_ACTIVE(BOX3DDISABLE)
&& !isModeActivationConditionPresent(BOX3DONASWITCH)
&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
// If arming is disabled and the ARM switch is on

104
src/test/unit/arming_prevention_unittest.cc
View file

@ -369,10 +369,7 @@ TEST(ArmingPreventionTest, In3DModeAllowArmingWhenEnteringThrottleDeadband)
// and
rcData[THROTTLE] = 1400;
ENABLE_STATE(SMALL_ANGLE);
// and
// RX has no link to radio
simulationHaveRx = false;
simulationHaveRx = true;
// and
// arm channel has a safe default value
@ -441,10 +438,7 @@ TEST(ArmingPreventionTest, When3DModeDisabledThenNormalThrottleArmingConditionAp
// safe throttle value for 3D mode
rcData[THROTTLE] = 1500;
ENABLE_STATE(SMALL_ANGLE);
// and
// RX has no link to radio
simulationHaveRx = false;
simulationHaveRx = true;
// and
// arm channel has a safe default value
@ -518,6 +512,100 @@ TEST(ArmingPreventionTest, When3DModeDisabledThenNormalThrottleArmingConditionAp
EXPECT_EQ(0, getArmingDisableFlags());
}
TEST(ArmingPreventionTest, WhenUsingSwitched3DModeThenNormalThrottleArmingConditionApplies)
{
// given
simulationFeatureFlags = FEATURE_3D; // Using 3D mode
simulationTime = 30e6; // 30 seconds after boot
gyroCalibDone = true;
// and
modeActivationConditionsMutable(0)->auxChannelIndex = 0;
modeActivationConditionsMutable(0)->modeId = BOXARM;
modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
modeActivationConditionsMutable(1)->auxChannelIndex = 1;
modeActivationConditionsMutable(1)->modeId = BOX3DONASWITCH;
modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
useRcControlsConfig(NULL);
// and
rxConfigMutable()->mincheck = 1050;
// and
rcData[THROTTLE] = 1000;
ENABLE_STATE(SMALL_ANGLE);
simulationHaveRx = true;
// and
// arm channel has a safe default value
rcData[4] = 1100;
// when
updateActivatedModes();
updateArmingStatus();
// expect
// ok to arm in 3D mode
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
// given
// raise throttle to unsafe position
rcData[THROTTLE] = 1500;
// when
updateActivatedModes();
updateArmingStatus();
// expect
// ok to arm in 3D mode
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
// attempt to arm
rcData[4] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_THROTTLE | ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// throttle moved low
rcData[THROTTLE] = 1000;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_ARM_SWITCH, getArmingDisableFlags());
// given
// arm switch turned off
rcData[4] = 1000;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
}
// STUBS
extern "C" {
uint32_t micros(void) { return simulationTime; }