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Code Issues Wiki Activity

Merge remote-tracking branch 'prodrone/improved_rx_failsafe_detection' into betaflight

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This commit is contained in:
borisbstyle 2015-10-08 14:53:07 +02:00
commit fa2ac7fe86
1 changed files with 30 additions and 14 deletions
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44
src/main/rx/rx.c
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@ -69,7 +69,10 @@ uint16_t rssi = 0; // range: [0;1023]
static bool rxDataReceived = false;
static bool rxSignalReceived = false;
static bool rxSignalReceivedNotDataDriven = false;
static bool rxFlightChannelsValid = false;
static bool rxIsInFailsafeMode = true;
static bool rxIsInFailsafeModeNotDataDriven = true;
static uint32_t rxUpdateAt = 0;
static uint32_t needRxSignalBefore = 0;
@ -272,9 +275,7 @@ static void resetRxSignalReceivedFlagIfNeeded(uint32_t currentTime)
if (((int32_t)(currentTime - needRxSignalBefore) >= 0)) {
rxSignalReceived = false;
#ifdef DEBUG_RX_SIGNAL_LOSS
debug[0]++;
#endif
rxSignalReceivedNotDataDriven = false;
}
}
@ -307,7 +308,8 @@ void updateRx(uint32_t currentTime)
if (frameStatus & SERIAL_RX_FRAME_COMPLETE) {
rxDataReceived = true;
rxSignalReceived = (frameStatus & SERIAL_RX_FRAME_FAILSAFE) == 0;
rxIsInFailsafeMode = (frameStatus & SERIAL_RX_FRAME_FAILSAFE) != 0;
rxSignalReceived = !rxIsInFailsafeMode;
needRxSignalBefore = currentTime + DELAY_10_HZ;
}
}
@ -318,13 +320,15 @@ void updateRx(uint32_t currentTime)
if (rxDataReceived) {
rxSignalReceived = true;
rxIsInFailsafeMode = false;
needRxSignalBefore = currentTime + DELAY_5_HZ;
}
}
if (feature(FEATURE_RX_PPM)) {
if (isPPMDataBeingReceived()) {
rxSignalReceived = true;
rxSignalReceivedNotDataDriven = true;
rxIsInFailsafeModeNotDataDriven = false;
needRxSignalBefore = currentTime + DELAY_10_HZ;
resetPPMDataReceivedState();
}
@ -332,7 +336,8 @@ void updateRx(uint32_t currentTime)
if (feature(FEATURE_RX_PARALLEL_PWM)) {
if (isPWMDataBeingReceived()) {
rxSignalReceived = true;
rxSignalReceivedNotDataDriven = true;
rxIsInFailsafeModeNotDataDriven = false;
needRxSignalBefore = currentTime + DELAY_10_HZ;
}
}
@ -439,14 +444,21 @@ static void detectAndApplySignalLossBehaviour(void)
bool useValueFromRx = true;
bool rxIsDataDriven = isRxDataDriven();
if (!rxSignalReceived) {
if (rxIsDataDriven && rxDataReceived) {
// use the values from the RX
} else {
useValueFromRx = false;
}
if (!rxIsDataDriven) {
rxSignalReceived = rxSignalReceivedNotDataDriven;
rxIsInFailsafeMode = rxIsInFailsafeModeNotDataDriven;
}
if (!rxSignalReceived || rxIsInFailsafeMode) {
useValueFromRx = false;
}
#ifdef DEBUG_RX_SIGNAL_LOSS
debug[0] = rxSignalReceived;
debug[1] = rxIsInFailsafeMode;
debug[2] = rcReadRawFunc(&rxRuntimeConfig, 0);
#endif
rxResetFlightChannelStatus();
for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
@ -473,7 +485,7 @@ static void detectAndApplySignalLossBehaviour(void)
if ((rxFlightChannelsValid) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
failsafeOnValidDataReceived();
} else {
rxSignalReceived = false;
rxIsInFailsafeMode = rxIsInFailsafeModeNotDataDriven = true;
failsafeOnValidDataFailed();
for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
@ -481,6 +493,10 @@ static void detectAndApplySignalLossBehaviour(void)
}
}
#ifdef DEBUG_RX_SIGNAL_LOSS
debug[3] = rcData[THROTTLE];
#endif
}
void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
@ -576,4 +592,4 @@ void updateRSSI(uint32_t currentTime)
void initRxRefreshRate(uint16_t *rxRefreshRatePtr) {
*rxRefreshRatePtr = rxRefreshRate;
}
}