Users who upgraded from 1.9 and have inflight adjustments configured now
experience changed PID's. Sometimes even to dangerous and unflyable
situation. Sometimes rx boots slower than the FC
This is because AUX channels go low and usually thats where they change
things.
IMO the new failsafe behaviour for AUX should be midrc default like
before!
cleanup
Modified to make mechanism use time instead of counters for call
frequency independency.
Skipping RC samples uses a counter for time independency.
Also LED and beeper patterns were changed by previous implementation.
Corrected with RX supend/resume feedback to failsafe system.
- 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 problem is caused by hardware counters (timekeeping and PPM/PWM
measurement) that keep running while the firmware is frozen. The result
is misinterpretation of received data.
EEPROM read & write now call a suspend and resume function to make RX
ignore incoming wrong data during reads/writes (and flush the wrong data
on resume).
Fixes issue #1257
(+1 squashed commit)
- Moved the check for skipSamples to the right place.
As commented by hydra
Stick channels only have AUTO and HOLD mode.
AUX channels only have SET and HOLD mode.
Added check to parameter in CLI.
Modified rx.md to reflect changes (and more).
+1 squashed commit:
- A cleaner approach for the same functionality
Basically addressing all comments from Hydra
Logic for valid flightchannel detection is inverted in order to detect
the first flightchannel failure instead of waiting to check them all.
Clear PWM channel capture on read.
This invalidates the control channels on read. They are validated by
receiving a good value BEFORE the aux channels are received. This is
done because control channels configures to go OFF on failsafe are
detected with a PWM capture time-out. Time-out took so long that all aux
channels where overwritten by their RX configured failsafe values BEFORE
the invalid (=OFF) control channel was detected.
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.
On bad (out-of-range) pulses; ROLL, PITCH, YAW will go to `mid_rc` and
THROTTLE will go to `rx_min_usec` (to `mid_rc` for 3D mode). So these
channels will no longer be set by the user directly.
Fallback values for the aux switches (0 .. max) can be set with this
version. Since these switches may trigger all kind of things, the user
needs control over them in case of a RX failsafe event.
A single flight control channel failure (first 4) when using parallel
PWM is interpreted as a failure for all flight control channels (first
4), since the craft may be uncontrollable when one channel is down. (+4
squashed commit)
Squashed commit:
[dbfea9e] Apply fallback values also when serial_rx init failed and/or
RX
disconnected and/or no signal received.
[b5a2ecd] Added get/set MSP commands for RXFAIL config
Bumped API minor version up.
[c0e31ce] minor change for coding standard
[322705f] Added programmable RX channel defaults on rx lost Update #2
sensible/fix min/max settings for those settings.
This fixes erratic flight behaviour before failsafe kicks in on SBus
receivers.
An X8R SBus RX in failsafe mode outputs 880 on all channels.
See #918 and #919
* fixes issue where indicators would flash when SBus RX entered failsafe
mode.
* fixes bug where turning off a TX for an SBus RX would instantly disarm
when using a switch to arm when the channel went outside the arming
range.
* introduces failsafe phases to make the system more understandable.
* allows the system to ask if rxSignalIsBeing received for all RX
systems: PPM/PWM/SerialRX/MSP. Also works when a serial data signal is
still being received but the data stream indicates a failsafe condition
- e.g. SBus failsafe flags.
* failsafe settings are no-longer per-profile.
Untested: Sumd/Sumh/XBus/MSP (!)
Tested: SBus X8R, Lemon RX Sat, X8R in PWM, Spektrum PPM.
condition. Improve SumD driver, when a failsafe is detected the values
from the frame will be used (same behaviour as SBus when SBus RX reports
failsafe).
