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GPS Rescue procedure can be aborted by moving sticks, with a configurable delay after recovering rx

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This commit is contained in:
Tony Cabello 2019-04-09 06:30:35 +02:00
parent b4286c6ac9
commit d829563179
7 changed files with 36 additions and 12 deletions
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20
src/main/flight/failsafe.c
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@ -69,7 +69,9 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
.failsafe_delay = 4, // 0,4sec
.failsafe_off_delay = 10, // 1sec
.failsafe_switch_mode = 0, // default failsafe switch action is identical to rc link loss
.failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT // default full failsafe procedure is 0: auto-landing
.failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT,// default full failsafe procedure is 0: auto-landing
.failsafe_recovery_delay = 20, // 2 sec of valid rx data (plus 200ms) needed to allow recovering from failsafe procedure
.failsafe_stick_threshold = 30 // 30 percent of stick deflection to exit GPS Rescue procedure
);
const char * const failsafeProcedureNames[FAILSAFE_PROCEDURE_COUNT] = {
@ -263,12 +265,10 @@ void failsafeUpdateState(void)
// Drop the craft
failsafeActivate();
failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS; // require 3 seconds of valid rxData
break;
case FAILSAFE_PROCEDURE_GPS_RESCUE:
failsafeActivate();
failsafeState.phase = FAILSAFE_GPS_RESCUE;
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS;
break;
}
}
@ -277,8 +277,10 @@ void failsafeUpdateState(void)
case FAILSAFE_LANDING:
if (receivingRxData) {
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
reprocessState = true;
if ((failsafeState.validRxDataReceivedAt - failsafeState.validRxDataFailedAt) > (failsafeConfig()->failsafe_recovery_delay * MILLIS_PER_TENTH_SECOND + PERIOD_RXDATA_RECOVERY)) {
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
reprocessState = true;
}
}
if (armed) {
failsafeApplyControlInput();
@ -292,8 +294,12 @@ void failsafeUpdateState(void)
break;
case FAILSAFE_GPS_RESCUE:
if (receivingRxData) {
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
reprocessState = true;
if ((failsafeState.validRxDataReceivedAt - failsafeState.validRxDataFailedAt) > (failsafeConfig()->failsafe_recovery_delay * MILLIS_PER_TENTH_SECOND + PERIOD_RXDATA_RECOVERY)) {
if (areSticksActive(failsafeConfig()->failsafe_stick_threshold)) {
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
reprocessState = true;
}
}
}
if (armed) {
failsafeApplyControlInput();