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Code Issues Wiki Activity

Failsafe switch choosable behavior #5994

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The `failsafe_kill_switch` parameter has been renamed to
`failsafe_switch_mode` and it determines what happens
when the Failsafe mode is activated with an AUX switch.
It takes one of three values:
  0 - simulates RC signal loss - thus activates Stage1 failsafe
      (former behavior when kill switch option was OFF)
  1 - disarms immediately
      (former behavior when kill switch option was ON)
  2 - activates the failsafe procedure (Stage2) immediately (new)
This commit is contained in:
Cleric-K 2018-05-28 23:33:38 +03:00
parent 418fd4beaa
commit e17abc4063
7 changed files with 159 additions and 24 deletions
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8
src/main/flight/failsafe.c
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@ -68,7 +68,7 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
.failsafe_throttle_low_delay = 100, // default throttle low delay for "just disarm" on failsafe condition
.failsafe_delay = 4, // 0,4sec
.failsafe_off_delay = 10, // 1sec
.failsafe_kill_switch = 0, // default failsafe switch action is identical to rc link loss
.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
);
@ -192,6 +192,10 @@ void failsafeUpdateState(void)
bool failsafeSwitchIsOn = IS_RC_MODE_ACTIVE(BOXFAILSAFE);
beeperMode_e beeperMode = BEEPER_SILENCE;
if (failsafeSwitchIsOn && failsafeConfig()->failsafe_switch_mode == FAILSAFE_SWITCH_MODE_STAGE2) {
receivingRxData = false; // force Stage2
}
// Beep RX lost only if we are not seeing data and we have been armed earlier
if (!receivingRxData && ARMING_FLAG(WAS_EVER_ARMED)) {
beeperMode = BEEPER_RX_LOST;
@ -210,7 +214,7 @@ void failsafeUpdateState(void)
failsafeState.throttleLowPeriod = millis() + failsafeConfig()->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
}
// Kill switch logic (must be independent of receivingRxData to skip PERIOD_RXDATA_FAILURE delay before disarming)
if (failsafeSwitchIsOn && failsafeConfig()->failsafe_kill_switch) {
if (failsafeSwitchIsOn && failsafeConfig()->failsafe_switch_mode == FAILSAFE_SWITCH_MODE_KILL) {
// KillswitchEvent: failsafe switch is configured as KILL switch and is switched ON
failsafeActivate();
failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure