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Merge remote-tracking branch 'prodrone/improved_rx_failsafe_detection' into betaflight

Browse source 
Conflicts:
	src/main/drivers/accgyro_mpu6500.c
	src/main/drivers/accgyro_spi_mpu6000.c
	src/main/drivers/system.c
	src/main/mw.c
	src/main/rx/rx.c
	src/main/sensors/initialisation.c
This commit is contained in:
borisbstyle 2015-10-21 09:21:33 +02:00
commit cb7028b7f1
4 changed files with 55 additions and 16 deletions
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1
Makefile
View file

@ -540,6 +540,7 @@ COLIBRI_RACE_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \

4
src/main/main.c
View file

@ -113,7 +113,7 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers, servoMixe
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
#endif
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
void rxInit(rxConfig_t *rxConfig);
void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationConditions);
void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
void displayInit(rxConfig_t *intialRxConfig);
@ -407,7 +407,7 @@ void init(void)
failsafeInit(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
rxInit(&masterConfig.rxConfig);
rxInit(&masterConfig.rxConfig, currentProfile->modeActivationConditions);
#ifdef GPS
if (feature(FEATURE_GPS)) {

33
src/main/rx/rx.c
View file

@ -81,9 +81,9 @@ static uint8_t skipRxSamples = 0;
int16_t rcRaw[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
int8_t rcInvalidPulsCounter[MAX_SUPPORTED_RC_CHANNEL_COUNT];
uint32_t rcInvalidPulsPeriod[MAX_SUPPORTED_RC_CHANNEL_COUNT];
#define MAX_INVALID_PULS_COUNTS 20
#define MAX_INVALID_PULS_TIME 300
#define PPM_AND_PWM_SAMPLE_COUNT 3
#define DELAY_50_HZ (1000000 / 50)
@ -150,20 +150,36 @@ void resetAllRxChannelRangeConfigurations(rxChannelRangeConfiguration_t *rxChann
}
}
void rxInit(rxConfig_t *rxConfig)
void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationConditions)
{
uint8_t i;
uint16_t value;
useRxConfig(rxConfig);
rcSampleIndex = 0;
for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
rcData[i] = rxConfig->midrc;
rcInvalidPulsCounter[i] = MAX_INVALID_PULS_COUNTS;
rcInvalidPulsPeriod[i] = millis() + MAX_INVALID_PULS_TIME;
}
rcData[THROTTLE] = (feature(FEATURE_3D)) ? rxConfig->midrc : rxConfig->rx_min_usec;
// Initialize ARM switch to OFF position when arming via switch is defined
for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[i];
if (modeActivationCondition->modeId == BOXARM && IS_RANGE_USABLE(&modeActivationCondition->range)) {
// ARM switch is defined, determine an OFF value
if (modeActivationCondition->range.startStep > 0) {
value = MODE_STEP_TO_CHANNEL_VALUE((modeActivationCondition->range.startStep - 1));
} else {
value = MODE_STEP_TO_CHANNEL_VALUE((modeActivationCondition->range.endStep + 1));
}
// Initialize ARM AUX channel to OFF value
rcData[modeActivationCondition->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = value;
}
}
#ifdef SERIAL_RX
if (feature(FEATURE_RX_SERIAL)) {
serialRxInit(rxConfig);
@ -449,6 +465,7 @@ static void detectAndApplySignalLossBehaviour(void)
uint16_t sample;
bool useValueFromRx = true;
bool rxIsDataDriven = isRxDataDriven();
uint32_t currentMilliTime = millis();
if (!rxIsDataDriven) {
rxSignalReceived = rxSignalReceivedNotDataDriven;
@ -474,15 +491,14 @@ static void detectAndApplySignalLossBehaviour(void)
bool validPulse = isPulseValid(sample);
if (!validPulse) {
if (rcInvalidPulsCounter[channel]) {
rcInvalidPulsCounter[channel]--;
sample = rcData[channel]; // hold channel for MAX_INVALID_PULS_COUNTS
if (currentMilliTime < rcInvalidPulsPeriod[channel]) {
sample = rcData[channel]; // hold channel for MAX_INVALID_PULS_TIME
} else {
sample = getRxfailValue(channel); // after that apply rxfail value
rxUpdateFlightChannelStatus(channel, validPulse);
}
} else {
rcInvalidPulsCounter[channel] = MAX_INVALID_PULS_COUNTS;
rcInvalidPulsPeriod[channel] = currentMilliTime + MAX_INVALID_PULS_TIME;
}
if (rxIsDataDriven) {
@ -508,7 +524,6 @@ static void detectAndApplySignalLossBehaviour(void)
#ifdef DEBUG_RX_SIGNAL_LOSS
debug[3] = rcData[THROTTLE];
#endif
}
void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)

33
src/test/unit/rx_rx_unittest.cc
View file

@ -24,10 +24,12 @@ extern "C" {
#include "platform.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "common/maths.h"
uint32_t rcModeActivationMask;
void rxInit(rxConfig_t *rxConfig);
void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationConditions);
void rxResetFlightChannelStatus(void);
bool rxHaveValidFlightChannels(void);
bool isPulseValid(uint16_t pulseDuration);
@ -54,16 +56,28 @@ TEST(RxTest, TestValidFlightChannels)
// and
rxConfig_t rxConfig;
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
memset(&rxConfig, 0, sizeof(rxConfig));
rxConfig.rx_min_usec = 1000;
rxConfig.rx_max_usec = 2000;
// when
rxInit(&rxConfig);
memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
modeActivationConditions[0].auxChannelIndex = 0;
modeActivationConditions[0].modeId = BOXARM;
modeActivationConditions[0].range.startStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MIN);
modeActivationConditions[0].range.endStep = CHANNEL_VALUE_TO_STEP(1600);
// when
rxInit(&rxConfig, modeActivationConditions);
// then (ARM channel should be positioned just 1 step above active range to init to OFF)
EXPECT_EQ(1625, rcData[modeActivationConditions[0].auxChannelIndex + NON_AUX_CHANNEL_COUNT]);
// given
rxResetFlightChannelStatus();
// and
for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
bool validPulse = isPulseValid(1500);
rxUpdateFlightChannelStatus(channelIndex, validPulse);
@ -80,20 +94,29 @@ TEST(RxTest, TestInvalidFlightChannels)
// and
rxConfig_t rxConfig;
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
memset(&rxConfig, 0, sizeof(rxConfig));
rxConfig.rx_min_usec = 1000;
rxConfig.rx_max_usec = 2000;
memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
modeActivationConditions[0].auxChannelIndex = 0;
modeActivationConditions[0].modeId = BOXARM;
modeActivationConditions[0].range.startStep = CHANNEL_VALUE_TO_STEP(1400);
modeActivationConditions[0].range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
// and
uint16_t channelPulses[MAX_SUPPORTED_RC_CHANNEL_COUNT];
memset(&channelPulses, 1500, sizeof(channelPulses));
// and
rxInit(&rxConfig);
rxInit(&rxConfig, modeActivationConditions);
// then (ARM channel should be positioned just 1 step below active range to init to OFF)
EXPECT_EQ(1375, rcData[modeActivationConditions[0].auxChannelIndex + NON_AUX_CHANNEL_COUNT]);
// and
for (uint8_t stickChannelIndex = 0; stickChannelIndex < STICK_CHANNEL_COUNT; stickChannelIndex++) {
// given