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Failsafe switch choosable behavior #5994
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
parent
418fd4beaa
commit
e17abc4063
7 changed files with 159 additions and 24 deletions
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@ -21,21 +21,21 @@ __Stage 1__ is entered when __a flightchannel__ has an __*invalid pulse length*_
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__Note:__ Prior to entering __stage 1__, fallback settings are also applied to __*individual AUX channels*__ that have invalid pulses.
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__Stage 1__ can also directly be activated when a transmitter switch that is configured to control the failsafe mode is switched ON and `failsafe_switch_mode` is set to `STAGE1`. Stage 1 will be aborted if the switch is moved to the OFF position before Stage 2 is engaged (see next).
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__Stage 2__ is entered when your craft is __armed__ and __stage 1__ persists longer then the configured guard time (`failsafe_delay`). All channels will remain at the applied fallback setting unless overruled by the chosen stage 2 procedure (`failsafe_procedure`).
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__Stage 2__ is not activated until 5 seconds after the flight controller boots up. This is to prevent unwanted activation, as in the case of TX/RX gear with long bind procedures, before the RX sends out valid data.
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__Stage 2__ can also directly be activated when a transmitter switch that is configured to control the failsafe mode is switched ON (and `failsafe_kill_switch` is set to OFF).
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__Stage 2__ can also directly be activated when a transmitter switch that is configured to control the failsafe mode is switched ON and `failsafe_switch_mode` is set to `STAGE2`.
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__Stage 2__ will be aborted when it was due to:
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* a lost RC signal and the RC signal has recovered.
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* a transmitter failsafe switch was set to ON position and the switch is set to OFF position (and `failsafe_kill_switch` is set to OFF).
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* a transmitter failsafe switch was set to ON position and the switch is set to OFF position (and `failsafe_switch_mode` is _not_ set to `KILL`).
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Note that:
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* At the end of the stage 2 procedure, the flight controller will be disarmed and re-arming will be locked until the signal from the receiver is restored for 30 seconds AND the arming switch is in the OFF position (when an arm switch is in use).
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* When `failsafe_kill_switch` is set to ON and the rc switch configured for failsafe is set to ON, the craft is instantly disarmed. Re-arming is possible when the signal from the receiver has restored for at least 3 seconds AND the arming switch is in the OFF position (when one is in use). Similar effect can be achieved by setting 'failsafe_throttle' to 1000 and 'failsafe_off_delay' to 0. This is not the prefered method, since the reaction is slower and re-arming will be locked.
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* At the end of the stage 2 procedure, the flight controller will be disarmed and re-arming will be locked until the signal from the receiver is restored for specific amount of time depending on the procedure (see below) AND the arming switch is in the OFF position (when an arm switch is in use).
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* Prior to starting a stage 2 intervention it is checked if the throttle position was below `min_throttle` level for the last `failsafe_throttle_low_delay` seconds. If it was, the craft is assumed to be on the ground and is only disarmed. It may be re-armed without a power cycle.
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@ -89,9 +89,15 @@ Delay after failsafe activates before motors finally turn off. This is the amou
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Throttle level used for landing. Specify a value that causes the aircraft to descend at about 1M/sec. Default is set to 1000 which should correspond to throttle off.
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### `failsafe_kill_switch`
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### `failsafe_switch_mode`
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Configure the rc switched failsafe action: the same action as when the rc link is lost (set to OFF) or disarms instantly (set to ON). Also see above.
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Configure the RC switched failsafe action. It can be one of:
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* `STAGE1` - activates Stage 1 failsafe. RC controls are applied as configured for Stage 1 and the `failsafe_delay` guard time will have to elapse before Stage 2 is activated. This is useful if you want to simulate with a switch the exact signal loss failsafe behavior.
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* `STAGE2` - skips Stage 1 and activates the Stage 2 procedure immediately (see `failsafe_procedure`). Useful if you want to assign instant auto-landing to a switch.
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* `KILL` - disarms instantly (your craft will crash). Re-arming is locked for 1 second AND until the arming switch (if used) is moved to the OFF position. Similar effect can be achieved by:
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* setting `failsafe_switch_mode` to `STAGE2` and `failsafe_procedure` to `DROP`. The difference is that `DROP` locks re-arming for 3 seconds instead of 1.
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* setting `failsafe_switch_mode` to `STAGE2`, `failsafe_procedure` to `AUTO-LAND`, setting `failsafe_throttle` to 1000 and `failsafe_off_delay` to 0 (basically initiates an auto-landing but cuts it short immediately). This is not preferred method, since the reaction is slower and re-arming will be locked for 30 seconds.
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* using arm switch. This does not introduce re-arming locking.
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### `failsafe_throttle_low_delay`
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@ -101,8 +107,8 @@ Use standard RX usec values. See [Rx documentation](Rx.md).
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### `failsafe_procedure`
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* __Drop:__ Just kill the motors and disarm (crash the craft).
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* __Land:__ Enable an auto-level mode, center the flight sticks and set the throttle to a predefined value (`failsafe_throttle`) for a predefined time (`failsafe_off_delay`). This should allow the craft to come to a safer landing.
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* `DROP`: Just kill the motors and disarm (crash the craft). Re-arming is locked until RC link is available for at least 3 seconds and the arm switch (if used) is in the OFF position.
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* `AUTO-LAND`: Enable an auto-level mode, center the flight sticks and set the throttle to a predefined value (`failsafe_throttle`) for a predefined time (`failsafe_off_delay`). This should allow the craft to come to a safer landing. Re-arming is locked until RC link is available for at least 30 seconds and the arm switch (if used) is in the OFF position.
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### `rx_min_usec`
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@ -68,7 +68,7 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
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.failsafe_throttle_low_delay = 100, // default throttle low delay for "just disarm" on failsafe condition
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.failsafe_delay = 4, // 0,4sec
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.failsafe_off_delay = 10, // 1sec
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.failsafe_kill_switch = 0, // default failsafe switch action is identical to rc link loss
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.failsafe_switch_mode = 0, // default failsafe switch action is identical to rc link loss
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.failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT // default full failsafe procedure is 0: auto-landing
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);
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@ -192,6 +192,10 @@ void failsafeUpdateState(void)
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bool failsafeSwitchIsOn = IS_RC_MODE_ACTIVE(BOXFAILSAFE);
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beeperMode_e beeperMode = BEEPER_SILENCE;
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if (failsafeSwitchIsOn && failsafeConfig()->failsafe_switch_mode == FAILSAFE_SWITCH_MODE_STAGE2) {
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receivingRxData = false; // force Stage2
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}
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// Beep RX lost only if we are not seeing data and we have been armed earlier
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if (!receivingRxData && ARMING_FLAG(WAS_EVER_ARMED)) {
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beeperMode = BEEPER_RX_LOST;
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@ -210,7 +214,7 @@ void failsafeUpdateState(void)
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failsafeState.throttleLowPeriod = millis() + failsafeConfig()->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
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}
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// Kill switch logic (must be independent of receivingRxData to skip PERIOD_RXDATA_FAILURE delay before disarming)
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if (failsafeSwitchIsOn && failsafeConfig()->failsafe_kill_switch) {
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if (failsafeSwitchIsOn && failsafeConfig()->failsafe_switch_mode == FAILSAFE_SWITCH_MODE_KILL) {
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// KillswitchEvent: failsafe switch is configured as KILL switch and is switched ON
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failsafeActivate();
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failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure
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@ -37,7 +37,7 @@ typedef struct failsafeConfig_s {
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uint16_t failsafe_throttle_low_delay; // Time throttle stick must have been below 'min_check' to "JustDisarm" instead of "full failsafe procedure".
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uint8_t failsafe_delay; // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
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uint8_t failsafe_off_delay; // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200)
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uint8_t failsafe_kill_switch; // failsafe switch action is 0: identical to rc link loss, 1: disarms instantly
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uint8_t failsafe_switch_mode; // failsafe switch action is 0: stage1 (identical to rc link loss), 1: disarms instantly, 2: stage2
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uint8_t failsafe_procedure; // selected full failsafe procedure is 0: auto-landing, 1: Drop it
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} failsafeConfig_t;
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@ -64,6 +64,12 @@ typedef enum {
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FAILSAFE_PROCEDURE_GPS_RESCUE
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} failsafeProcedure_e;
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typedef enum {
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FAILSAFE_SWITCH_MODE_STAGE1 = 0,
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FAILSAFE_SWITCH_MODE_KILL,
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FAILSAFE_SWITCH_MODE_STAGE2
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} failsafeSwitchMode_e;
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typedef struct failsafeState_s {
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int16_t events;
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bool monitoring;
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@ -1071,7 +1071,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
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sbufWriteU8(dst, failsafeConfig()->failsafe_delay);
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sbufWriteU8(dst, failsafeConfig()->failsafe_off_delay);
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sbufWriteU16(dst, failsafeConfig()->failsafe_throttle);
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sbufWriteU8(dst, failsafeConfig()->failsafe_kill_switch);
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sbufWriteU8(dst, failsafeConfig()->failsafe_switch_mode);
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sbufWriteU16(dst, failsafeConfig()->failsafe_throttle_low_delay);
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sbufWriteU8(dst, failsafeConfig()->failsafe_procedure);
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break;
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@ -1920,7 +1920,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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failsafeConfigMutable()->failsafe_delay = sbufReadU8(src);
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failsafeConfigMutable()->failsafe_off_delay = sbufReadU8(src);
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failsafeConfigMutable()->failsafe_throttle = sbufReadU16(src);
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failsafeConfigMutable()->failsafe_kill_switch = sbufReadU8(src);
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failsafeConfigMutable()->failsafe_switch_mode = sbufReadU8(src);
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failsafeConfigMutable()->failsafe_throttle_low_delay = sbufReadU16(src);
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failsafeConfigMutable()->failsafe_procedure = sbufReadU8(src);
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break;
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@ -288,6 +288,10 @@ static const char * const lookupTableFailsafe[] = {
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"AUTO-LAND", "DROP", "GPS-RESCUE"
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};
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static const char * const lookupTableFailsafeSwitchMode[] = {
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"STAGE1", "KILL", "STAGE2"
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};
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static const char * const lookupTableBusType[] = {
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"NONE", "I2C", "SPI", "SLAVE"
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};
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@ -390,6 +394,7 @@ const lookupTableEntry_t lookupTables[] = {
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LOOKUP_TABLE_ENTRY(lookupTableLowpassType),
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LOOKUP_TABLE_ENTRY(lookupTableDtermLowpassType),
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LOOKUP_TABLE_ENTRY(lookupTableFailsafe),
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LOOKUP_TABLE_ENTRY(lookupTableFailsafeSwitchMode),
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LOOKUP_TABLE_ENTRY(lookupTableCrashRecovery),
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#ifdef USE_CAMERA_CONTROL
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LOOKUP_TABLE_ENTRY(lookupTableCameraControlMode),
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@ -578,7 +583,7 @@ const clivalue_t valueTable[] = {
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{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_delay) },
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{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_off_delay) },
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{ "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_throttle) },
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{ "failsafe_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_kill_switch) },
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{ "failsafe_switch_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FAILSAFE_SWITCH_MODE }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_switch_mode) },
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{ "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 300 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_throttle_low_delay) },
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{ "failsafe_procedure", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FAILSAFE }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_procedure) },
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@ -69,6 +69,7 @@ typedef enum {
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TABLE_LOWPASS_TYPE,
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TABLE_DTERM_LOWPASS_TYPE,
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TABLE_FAILSAFE,
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TABLE_FAILSAFE_SWITCH_MODE,
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TABLE_CRASH_RECOVERY,
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#ifdef USE_CAMERA_CONTROL
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TABLE_CAMERA_CONTROL_MODE,
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@ -80,11 +80,27 @@ void configureFailsafe(void)
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failsafeConfigMutable()->failsafe_delay = 10; // 1 second
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failsafeConfigMutable()->failsafe_off_delay = 50; // 5 seconds
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failsafeConfigMutable()->failsafe_kill_switch = false;
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failsafeConfigMutable()->failsafe_switch_mode = FAILSAFE_SWITCH_MODE_STAGE1;
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failsafeConfigMutable()->failsafe_throttle = 1200;
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failsafeConfigMutable()->failsafe_throttle_low_delay = 50; // 5 seconds
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failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_AUTO_LANDING;
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sysTickUptime = 0;
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}
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void activateBoxFailsafe()
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{
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boxBitmask_t newMask;
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bitArraySet(&newMask, BOXFAILSAFE);
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rcModeUpdate(&newMask);
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}
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void deactivateBoxFailsafe()
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{
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boxBitmask_t newMask;
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memset(&newMask, 0, sizeof(newMask));
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rcModeUpdate(&newMask);
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}
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//
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// Stepwise tests
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//
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@ -300,7 +316,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
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}
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/****************************************************************************************/
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TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
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TEST(FlightFailsafeTest, TestFailsafeSwitchModeKill)
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{
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// given
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ENABLE_ARMING_FLAG(ARMED);
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@ -309,11 +325,9 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
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// and
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throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure
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failsafeConfigMutable()->failsafe_kill_switch = true; // configure AUX switch as kill switch
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failsafeConfigMutable()->failsafe_switch_mode = FAILSAFE_SWITCH_MODE_KILL;
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boxBitmask_t newMask;
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bitArraySet(&newMask, BOXFAILSAFE);
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rcModeUpdate(&newMask); // activate BOXFAILSAFE mode
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activateBoxFailsafe();
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sysTickUptime = 0; // restart time from 0
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failsafeOnValidDataReceived(); // set last valid sample at current time
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@ -334,8 +348,7 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
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sysTickUptime += PERIOD_RXDATA_RECOVERY + 1; // adjust time to point just past the recovery time to
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failsafeOnValidDataReceived(); // cause a recovered link
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memset(&newMask, 0, sizeof(newMask));
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rcModeUpdate(&newMask); // BOXFAILSAFE must be off (kill switch)
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deactivateBoxFailsafe();
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// when
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failsafeUpdateState();
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@ -360,6 +373,105 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
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EXPECT_FALSE(isArmingDisabled());
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}
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TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Drop)
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{
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// given
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ENABLE_ARMING_FLAG(ARMED);
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resetCallCounters();
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// and
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throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure
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failsafeConfigMutable()->failsafe_switch_mode = FAILSAFE_SWITCH_MODE_STAGE2;
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failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;
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sysTickUptime = 0; // restart time from 0
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activateBoxFailsafe();
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failsafeOnValidDataFailed(); // box failsafe causes data to be invalid
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// when
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failsafeUpdateState(); // should activate stage2 immediately
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// then
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EXPECT_EQ(true, failsafeIsActive());
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EXPECT_TRUE(isArmingDisabled());
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
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EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
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// given
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sysTickUptime += PERIOD_OF_3_SECONDS + 1; // adjust time to point just past the required additional recovery time
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deactivateBoxFailsafe();
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failsafeOnValidDataReceived(); // inactive box failsafe gives valid data
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// when
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failsafeUpdateState();
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// then
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
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EXPECT_FALSE(isArmingDisabled());
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}
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TEST(FlightFailsafeTest, TestFailsafeSwitchModeStage2Land)
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{
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// given
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ENABLE_ARMING_FLAG(ARMED);
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resetCallCounters();
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// and
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throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure
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failsafeConfigMutable()->failsafe_switch_mode = FAILSAFE_SWITCH_MODE_STAGE2;
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failsafeConfigMutable()->failsafe_procedure = FAILSAFE_PROCEDURE_AUTO_LANDING;
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sysTickUptime = 0; // restart time from 0
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activateBoxFailsafe();
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failsafeOnValidDataFailed(); // box failsafe causes data to be invalid
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// when
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failsafeUpdateState(); // should activate stage2 immediately
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// then
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EXPECT_EQ(true, failsafeIsActive());
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EXPECT_TRUE(isArmingDisabled());
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EXPECT_EQ(0, CALL_COUNTER(COUNTER_MW_DISARM));
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EXPECT_EQ(FAILSAFE_LANDING, failsafePhase());
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sysTickUptime += failsafeConfig()->failsafe_off_delay * MILLIS_PER_TENTH_SECOND + 1;
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// given
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failsafeOnValidDataFailed(); // set last invalid sample at current time
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// when
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failsafeUpdateState();
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// then
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EXPECT_EQ(true, failsafeIsActive());
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EXPECT_TRUE(isArmingDisabled());
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
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EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
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// given
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sysTickUptime += PERIOD_OF_30_SECONDS + 1; // adjust time to point just past the required additional recovery time
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// and
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deactivateBoxFailsafe();
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failsafeOnValidDataReceived(); // inactive box failsafe gives valid data
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// when
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failsafeUpdateState();
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// then
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EXPECT_EQ(false, failsafeIsActive());
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EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
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EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
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EXPECT_FALSE(isArmingDisabled());
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}
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||||
/****************************************************************************************/
|
||||
//
|
||||
// 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
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue