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e969d184e6
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.
29 lines
1.2 KiB
C
29 lines
1.2 KiB
C
#pragma once
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typedef struct failsafeConfig_s {
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uint8_t failsafe_delay; // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
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uint8_t failsafe_off_delay; // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200)
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uint16_t failsafe_throttle; // Throttle level used for landing - specify value between 1000..2000 (pwm pulse width for slightly below hover). center throttle = 1500.
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uint16_t failsafe_detect_threshold; // Update controls channel only if pulse is above failsafe_detect_threshold. below this trigger failsafe.
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} failsafeConfig_t;
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typedef struct failsafeVTable_s {
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void (*reset)(void);
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void (*validDataReceived)(void);
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bool (*shouldForceLanding)(bool armed);
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bool (*hasTimerElapsed)(void);
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bool (*shouldHaveCausedLandingByNow)(void);
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void (*updateState)(void);
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bool (*isIdle)(void);
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} failsafeVTable_t;
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typedef struct failsafe_s {
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const failsafeVTable_t *vTable;
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int16_t counter;
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int16_t events;
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} failsafe_t;
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void useFailsafeConfig(failsafeConfig_t *failsafeConfigToUse);
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