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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
Download patch file Download diff file Expand all files Collapse all files

4
src/main/interface/msp.c
View file

@ -1071,7 +1071,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, failsafeConfig()->failsafe_delay);
sbufWriteU8(dst, failsafeConfig()->failsafe_off_delay);
sbufWriteU16(dst, failsafeConfig()->failsafe_throttle);
sbufWriteU8(dst, failsafeConfig()->failsafe_kill_switch);
sbufWriteU8(dst, failsafeConfig()->failsafe_switch_mode);
sbufWriteU16(dst, failsafeConfig()->failsafe_throttle_low_delay);
sbufWriteU8(dst, failsafeConfig()->failsafe_procedure);
break;
@ -1920,7 +1920,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
failsafeConfigMutable()->failsafe_delay = sbufReadU8(src);
failsafeConfigMutable()->failsafe_off_delay = sbufReadU8(src);
failsafeConfigMutable()->failsafe_throttle = sbufReadU16(src);
failsafeConfigMutable()->failsafe_kill_switch = sbufReadU8(src);
failsafeConfigMutable()->failsafe_switch_mode = sbufReadU8(src);
failsafeConfigMutable()->failsafe_throttle_low_delay = sbufReadU16(src);
failsafeConfigMutable()->failsafe_procedure = sbufReadU8(src);
break;

7
src/main/interface/settings.c
View file

@ -288,6 +288,10 @@ static const char * const lookupTableFailsafe[] = {
"AUTO-LAND", "DROP", "GPS-RESCUE"
};
static const char * const lookupTableFailsafeSwitchMode[] = {
"STAGE1", "KILL", "STAGE2"
};
static const char * const lookupTableBusType[] = {
"NONE", "I2C", "SPI", "SLAVE"
};
@ -390,6 +394,7 @@ const lookupTableEntry_t lookupTables[] = {
LOOKUP_TABLE_ENTRY(lookupTableLowpassType),
LOOKUP_TABLE_ENTRY(lookupTableDtermLowpassType),
LOOKUP_TABLE_ENTRY(lookupTableFailsafe),
LOOKUP_TABLE_ENTRY(lookupTableFailsafeSwitchMode),
LOOKUP_TABLE_ENTRY(lookupTableCrashRecovery),
#ifdef USE_CAMERA_CONTROL
LOOKUP_TABLE_ENTRY(lookupTableCameraControlMode),
@ -578,7 +583,7 @@ const clivalue_t valueTable[] = {
{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_delay) },
{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_off_delay) },
{ "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_throttle) },
{ "failsafe_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_kill_switch) },
{ "failsafe_switch_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FAILSAFE_SWITCH_MODE }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_switch_mode) },
{ "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 300 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_throttle_low_delay) },
{ "failsafe_procedure", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FAILSAFE }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_procedure) },

1
src/main/interface/settings.h
View file

@ -69,6 +69,7 @@ typedef enum {
TABLE_LOWPASS_TYPE,
TABLE_DTERM_LOWPASS_TYPE,
TABLE_FAILSAFE,
TABLE_FAILSAFE_SWITCH_MODE,
TABLE_CRASH_RECOVERY,
#ifdef USE_CAMERA_CONTROL
TABLE_CAMERA_CONTROL_MODE,