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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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131
src/test/unit/flight_failsafe_unittest.cc
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@ -80,11 +80,27 @@ void configureFailsafe(void)
failsafeConfigMutable()->failsafe_delay = 10; // 1 second
failsafeConfigMutable()->failsafe_off_delay = 50; // 5 seconds
failsafeConfigMutable()->failsafe_kill_switch = false;
failsafeConfigMutable()->failsafe_switch_mode = FAILSAFE_SWITCH_MODE_STAGE1;
failsafeConfigMutable()->failsafe_throttle = 1200;
failsafeConfigMutable()->failsafe_throttle_low_delay = 50; // 5 seconds
failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_AUTO_LANDING;
sysTickUptime = 0;
}
void activateBoxFailsafe()
{
boxBitmask_t newMask;
bitArraySet(&newMask, BOXFAILSAFE);
rcModeUpdate(&newMask);
}
void deactivateBoxFailsafe()
{
boxBitmask_t newMask;
memset(&newMask, 0, sizeof(newMask));
rcModeUpdate(&newMask);
}
//
// Stepwise tests
//
@ -300,7 +316,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
}
/****************************************************************************************/
TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
TEST(FlightFailsafeTest, TestFailsafeSwitchModeKill)
{
// given
ENABLE_ARMING_FLAG(ARMED);
@ -309,11 +325,9 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
// and
throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure
failsafeConfigMutable()->failsafe_kill_switch = true; // configure AUX switch as kill switch
failsafeConfigMutable()->failsafe_switch_mode = FAILSAFE_SWITCH_MODE_KILL;
boxBitmask_t newMask;
bitArraySet(&newMask, BOXFAILSAFE);
rcModeUpdate(&newMask); // activate BOXFAILSAFE mode
activateBoxFailsafe();
sysTickUptime = 0; // restart time from 0
failsafeOnValidDataReceived(); // set last valid sample at current time
@ -334,8 +348,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
sysTickUptime += PERIOD_RXDATA_RECOVERY + 1; // adjust time to point just past the recovery time to
failsafeOnValidDataReceived(); // cause a recovered link
memset(&newMask, 0, sizeof(newMask));
rcModeUpdate(&newMask); // BOXFAILSAFE must be off (kill switch)
deactivateBoxFailsafe();
// when
failsafeUpdateState();
@ -360,6 +373,105 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
EXPECT_FALSE(isArmingDisabled());
}
TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Drop)
{
// given
ENABLE_ARMING_FLAG(ARMED);
resetCallCounters();
// and
throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure
failsafeConfigMutable()->failsafe_switch_mode = FAILSAFE_SWITCH_MODE_STAGE2;
failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;
sysTickUptime = 0; // restart time from 0
activateBoxFailsafe();
failsafeOnValidDataFailed(); // box failsafe causes data to be invalid
// when
failsafeUpdateState(); // should activate stage2 immediately
// then
EXPECT_EQ(true, failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// given
sysTickUptime += PERIOD_OF_3_SECONDS + 1; // adjust time to point just past the required additional recovery time
deactivateBoxFailsafe();
failsafeOnValidDataReceived(); // inactive box failsafe gives valid data
// when
failsafeUpdateState();
// then
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_FALSE(isArmingDisabled());
}
TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Land)
{
// given
ENABLE_ARMING_FLAG(ARMED);
resetCallCounters();
// and
throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure
failsafeConfigMutable()->failsafe_switch_mode = FAILSAFE_SWITCH_MODE_STAGE2;
failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_AUTO_LANDING;
sysTickUptime = 0; // restart time from 0
activateBoxFailsafe();
failsafeOnValidDataFailed(); // box failsafe causes data to be invalid
// when
failsafeUpdateState(); // should activate stage2 immediately
// then
EXPECT_EQ(true, failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(0, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_LANDING, failsafePhase());
sysTickUptime += failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND + 1;
// given
failsafeOnValidDataFailed(); // set last invalid sample at current time
// when
failsafeUpdateState();
// then
EXPECT_EQ(true, failsafeIsActive());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// given
sysTickUptime += PERIOD_OF_30_SECONDS + 1; // adjust time to point just past the required additional recovery time
// and
deactivateBoxFailsafe();
failsafeOnValidDataReceived(); // inactive box failsafe gives valid data
// when
failsafeUpdateState();
// then
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_FALSE(isArmingDisabled());
}
/****************************************************************************************/
//
// Additional non-stepwise tests
@ -368,6 +480,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected)
{
// given
resetCallCounters();
configureFailsafe();
// and
@ -405,7 +518,7 @@ TEST(FlightFailsafeTest, TestFailsafeNotActivatedWhenDisarmedAndRXLossIsDetected
EXPECT_EQ(true, failsafeIsMonitoring());
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(0, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_TRUE(isArmingDisabled());
// given