Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-14 20:10:18 +03:00
Code Issues Wiki Activity

BUGFIX - Warning LED / arm prevention code fixes.

Browse source 
The old code was using f.ACC_CALIBRATED to mean 'flash the warning led'
and 'prevent arming'
There was another flag called f.OK_TO_ARM which really meant 'prevent
arming after failsafe unless using a switch to arm' - this meant the
comment in the code was incorrect since it did not mention the switch.
There was code which every ~71 minutes would set f.ACC_CALIBRATED to
FALSE and would toggle the LED, even when flying.
There was code that was run during every cycle that did not need to be
run when armed.
There was code that was run during every cycle which did not need to be
run when waiting for calibration to finish.
The warning light was toggled regardless of actual accelerometer
calibration state.

This commit fixes all that and prevents the user from arming after a
failsafe landing until the system is reset, regardless of wether a
switch is used to arm or not.

This commit also flashes the warning led during barometer calibration
and will not let you arm until it has completed.

Add a 5 second delay on startup to failsafe to prevent failsafe from
activating in the case of TX/RX gear with long bind procedures before
they send out valid data.

Failsafe now only prevents re-arming if a landing was forced.

In the case when you power on your RX without your TX on the beeper
sounds and failsafe warning ligts are activated.  When the FC then
detects a signal the lights go off and you can then arm.
This commit is contained in:
Dominic Clifton 2014-05-22 21:31:15 +01:00
parent d1be2ed5e2
commit d6c1ce323d
8 changed files with 121 additions and 39 deletions
Download patch file Download diff file Expand all files Collapse all files

5
docs/Failsafe.md
View file

@ -14,6 +14,10 @@ It is possible to use both types at the same time and may be desirable. Flight
## Flight controller failsafe system
The failsafe system is not activated until 5 seconds after the flight controller boots up. This is to prevent failsafe from activating in the case of TX/RX gear with long bind procedures before they send out valid data.
After the failsafe has been forced a landing, the flight controller cannot be armed and has to be reset.
The failsafe system attempts to detect when your receiver looses signal. It then attempts to prevent your aircraft from flying away uncontrollably.
The failsafe is activated when:
@ -28,7 +32,6 @@ Failsafe delays are configured in 0.1 second steps.
1 step = 0.1sec
1 second = 10 steps
### `failsafe_delay`
Guard time for failsafe activation after signal lost.