Analyze the rc modes activation conditions and only process configured entries. Previously the entire possible list was processed even though typically only a handful are configured.
Reduces the RX task processing time by about 25% (~44us to ~33us) with an average setup of 3 modes configured (F405, SBUS). Processing time savings will diminish as the user configures more modes. But typically far fewer than the maximum of 20 will be configured.
On bootup aux channels start out at default and allow sticky modes right away,
although they should only be allowed once they are actually not active.
_Legal disclaimer: I am making my contributions/submissions to this project solely in my personal capacity and am not conveying any rights to any intellectual property of any third parties._
Tries to prevent DSHOT beacon commands from interfering with commands to set the motor direction.
Adds a 2 second delay after disarming before DSHOT beacon commands will be sent. This attempts to prevent the beacon commands from interfering with the motor direction reset that happens after using crash flip mode.
During arming if a DSHOT beacon command has been sent within 2 seconds the arming will be delayed until the 2 seconds have passed. This attempts to prevent interference with the motor direction commands sent at arming.
Since we currently don't have per gyro configuration, trying to use two different gyro types simultaneously may not provide good results or lead to other unforeseen situations like attempting to initialize with settings not applicable to both hardware types.
This logic looks at the detected gyro types and resets to use only the first one if the user selected "BOTH" and they're different hardware types.
Addresses the rare possibility that if runway takeoff triggers and disarms while the pilot has the sticks in some valid stick command configuration. Prevents the stick command from processing until the craft is disarmed and the ARMING_DISABLED_RUNAWAY_TAKEOFF condition is cleared.
For example, if the pilot was mid throttle and went full yaw right and runway takeoff triggered, then camera control would have be entered.
Detects runaway pidSum values on takeoff and auto-disarms to prevent the "Tasmanian Devil" caused by incorrect props, wrong motor order/direction, incorrect flight controller orientation, etc. After a successful takeoff and normal flight is detected the feature is disabled for the remainder of the battery.
- 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
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
