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decouple failsafe from the rest of the system.

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Note: the pwm_common driver has a dependency on the main failsafe code,
the solution is probably to move some of the code into rx_pwm.
This commit is contained in:
Dominic Clifton 2014-04-21 00:46:16 +01:00
parent aef28c1c08
commit e969d184e6
29 changed files with 224 additions and 119 deletions
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11
src/config.c
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@ -24,6 +24,7 @@
#include "rx_common.h"
#include "gps_common.h"
#include "serial_common.h"
#include "failsafe.h"
#include "runtime_config.h"
#include "config.h"
@ -88,6 +89,8 @@ void readEEPROM(void)
setPIDController(cfg.pidController);
gpsSetPIDs();
useFailsafeConfig(&cfg.failsafeConfig);
}
void writeEEPROM(uint8_t b, uint8_t updateProfile)
@ -289,10 +292,10 @@ static void resetConf(void)
cfg.throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
// Failsafe Variables
cfg.failsafe_delay = 10; // 1sec
cfg.failsafe_off_delay = 200; // 20sec
cfg.failsafe_throttle = 1200; // decent default which should always be below hover throttle for people.
cfg.failsafe_detect_threshold = 985; // any of first 4 channels below this value will trigger failsafe
cfg.failsafeConfig.failsafe_delay = 10; // 1sec
cfg.failsafeConfig.failsafe_off_delay = 200; // 20sec
cfg.failsafeConfig.failsafe_throttle = 1200; // decent default which should always be below hover throttle for people.
cfg.failsafeConfig.failsafe_detect_threshold = 985; // any of first 4 channels below this value will trigger failsafe
// servos
for (i = 0; i < 8; i++) {