Substitute the floating point calculation for the comparably much faster
64-bit calculation recommended for a Cortex-M3 (floating point is
recommended only in PC applications with FPU) [1]. Even if we have an
FPU, we round the temperature to the nearest 1/100th of a degree and the
pressure to the nearest 1 Pa, both of which are within the limits of the
fixed-point algorithm's accuracy.
Conflicts:
src/main/drivers/barometer_bmp280.c
- Added failsafe flightmode and rc control box.
To make failsafe procedure a separate flight mode and make it possible
to trigger failsafe with an AUX switch.
- Failsafe mode is activated when failsafe is active.
RC link lost is simulated with the failsafe AUX switch.
When NOT armed: failsafe switch to failsafe mode is shown in GUI (mode
tab).
- Activate failsafe mode with AUX switch.
- Prevent arming when failsafe via AUX switch is active (safety issue).
- Make failsafe disarm if motors armed and throttle was LOW (2D & 3D)
for `failsafe_throttle_low_delay` time (__JustDisarmEvent__).
Applied code changes to effectively add pull request: Make failsafe
disarm if motors armed and throttle low #717.
- Use failsafeIsMonitoring() to actually start monitoring.
- Added `failsafe_kill_switch` to code.
When set to 1 (0 is default), the failsafe switch will instantly disarm
(__KillswitchEvent__) instead of executing the landings procedure.
Arming is NOT locked after
this, so the craft could be re-armed if needed.
This is intended for racing quads where damage and danger must be
minimized in case of a pilot error.
- Added `failsafe_throttle_low_delay`, adapted documentation.
Used to adjust the time throttle level must have been LOW
to _only disarm_ instead of _full failsafe procedure_
(__JustDisarmEvent__).
- Updated the failsafe documentation.
- Re-enable arming at end of failsafe procedure.
At the end of a handled failsafe event, that means: auto-landing,
__JustDisarmEvent__ or __KillswitchEvent__, the RX link is monitored for
valid data.
Monitoring is a part of the failsafe handling, which means the craft is
still in failsafe mode while this is done.
Arming is re-enabled (allowed) when there is a valid RX link for more
then XX seconds, where XX depends on the handled event like this:
1. XX = 30 seconds after auto landing.
2. XX = 3 seconds after __JustDisarmEvent__.
3. XX = 0 seconds after __KillswitchEvent__.
NOTE: When armed via an AUX switch, you will have to switch to the
disarmed position at the very end to be able to re-arm.
The failsafe mode will not end until you do.
- __KillswitchEvent__ has now priority over __JustDisarmEvent__
- Apply rxfail values instantly when failsafe switch is ON
- Added missing cases to display.c
Show M when failsafe is monitoring for RX recovery (AND disarming when
armed with a switch).
===
Reworked the code from counter-based to time-based.
- AUX failsafe switch now has identical behavior to RX loss.
- Added RX failure and RX recovery timing.
- __KillswitchEvent__ skips RX failure detection delay (direct disarm).
===
[UNIT TESTS]
Adapted failsafe related unittests from counter-based to time-based
- Added failsafeOnValidDataFailed() to some tests
- Removed duplicate test setup from rc_controls_unittest.cc
- Removed magic numbers from rx_ranges_unittest.cc and rx_rx_unittest.cc
- Reworked all test-cases for flight_failsafe_unittest.cc
The test file includes a simple independent implementation of
vector rotation. Each of the following sensor_align_e types are
tested:
* CW0_DEG
* CW90_DEG
* CW180_DEG
* CW270_DEG
* CW0_DEG_FLIP
* CW90_DEG_FLIP
* CW180_DEG_FLIP
* CW270_DEG_FLIP
For each test, three unit vectors and a random vector are tested.
* {1, 0, 0}
* {0, 1, 0}
* {0, 0, 1}
* {R, R, R} (where R is a random number)
The vector under test is rotated using the functions defined in the
test file. The output of the test function is compared to the
output of the sensorsAlign() function. The outputs match for all
test conditions.
Note: since it didn't actually calibrate anything it has been renamed to
rxrange.
Added ability to reset rxranges using `rxrange reset` - this follows the
same pattern as other cli commands.
Main rule logic and MSP commands ported from baseflight.
Gimbal mixer updated to use rules. This allows us to remove more
conditional logic. Operation of gimbal servos is now different.
Use C++11 for the C++ unit test code to make the tests easier to read.
Previously we were using a 17 year old standard (!) (g++98)
GoogleTest is compiled with some additional flags to avoid some specific
warnings. Consider enabling the warnings when upgrading GoogleTest.
See https://code.google.com/p/googletest/issues/detail?id=433Closes#941
