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Ensure failsafe does not repeatedly call disarm when landed.

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This commit is contained in:
Dominic Clifton 2015-04-18 19:00:20 +01:00
parent a34e8f0bdb
commit d4eb558254
2 changed files with 17 additions and 1 deletions
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4
src/main/flight/failsafe.c
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@ -185,13 +185,15 @@ void failsafeUpdateState(void)
case FAILSAFE_LANDED: case FAILSAFE_LANDED:
if (!armed) {
break;
}
// This will prevent the automatic rearm if failsafe shuts it down and prevents // This will prevent the automatic rearm if failsafe shuts it down and prevents
// to restart accidently by just reconnect to the tx - you will have to switch off first to rearm // to restart accidently by just reconnect to the tx - you will have to switch off first to rearm
ENABLE_ARMING_FLAG(PREVENT_ARMING); ENABLE_ARMING_FLAG(PREVENT_ARMING);
failsafeState.active = false; failsafeState.active = false;
mwDisarm(); mwDisarm();
break; break;
default: default:

14
src/test/unit/flight_failsafe_unittest.cc
View file

@ -238,6 +238,20 @@ TEST(FlightFailsafeTest, TestFailsafeCausesLanding)
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING)); EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
// given
DISABLE_ARMING_FLAG(ARMED);
// when
failsafeOnRxCycleStarted();
// no call to failsafeOnValidDataReceived();
failsafeUpdateState();
// then
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_LANDED, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
} }
// STUBS // STUBS