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d6c1ce323d
The old code was using f.ACC_CALIBRATED to mean 'flash the warning led' and 'prevent arming' There was another flag called f.OK_TO_ARM which really meant 'prevent arming after failsafe unless using a switch to arm' - this meant the comment in the code was incorrect since it did not mention the switch. There was code which every ~71 minutes would set f.ACC_CALIBRATED to FALSE and would toggle the LED, even when flying. There was code that was run during every cycle that did not need to be run when armed. There was code that was run during every cycle which did not need to be run when waiting for calibration to finish. The warning light was toggled regardless of actual accelerometer calibration state. This commit fixes all that and prevents the user from arming after a failsafe landing until the system is reset, regardless of wether a switch is used to arm or not. This commit also flashes the warning led during barometer calibration and will not let you arm until it has completed. Add a 5 second delay on startup to failsafe to prevent failsafe from activating in the case of TX/RX gear with long bind procedures before they send out valid data. Failsafe now only prevents re-arming if a landing was forced. In the case when you power on your RX without your TX on the beeper sounds and failsafe warning ligts are activated. When the FC then detects a signal the lights go off and you can then arm.
63 lines
2.4 KiB
Markdown
63 lines
2.4 KiB
Markdown
# Failsafe
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There are two types of failsafe:
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1) receiver based failsafe
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2) flight controller based failsafe
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Receiver based failsafe is where you, from your transmitter and receiver, configure channels to output desired signals if your receiver detects signal loss.
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The idea is that you set throttle and other controls so the aircraft descends in a controlled manner.
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Flight controller based failsafe is where the flight controller attempts to detect signal loss from your receiver.
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It is possible to use both types at the same time and may be desirable. Flight controller failsafe can even help if your receiver signal wires come loose, get damaged or your receiver malfunctions in a way the receiver itself cannot detect.
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## Flight controller failsafe system
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The failsafe system is not activated until 5 seconds after the flight controller boots up. This is to prevent failsafe from activating in the case of TX/RX gear with long bind procedures before they send out valid data.
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After the failsafe has been forced a landing, the flight controller cannot be armed and has to be reset.
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The failsafe system attempts to detect when your receiver looses signal. It then attempts to prevent your aircraft from flying away uncontrollably.
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The failsafe is activated when:
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a) no valid channel data from the RX via Serial RX.
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b) the first 4 Parallel PWM/PPM channels do not have valid signals.
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There are a few settings for it, as below.
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Failsafe delays are configured in 0.1 second steps.
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1 step = 0.1sec
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1 second = 10 steps
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### `failsafe_delay`
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Guard time for failsafe activation after signal lost.
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### `failsafe_off_delay`
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Delay after failsafe activates before motors finally turn off. If you fly high you may need more time.
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### `failsafe_throttle`
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Throttle level used for landing. Specify a value the causes the aircraft to descend at about 1M/sec.
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Use standard RX usec values. See Rx documentation.
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### `failsafe_min_usec`
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The shortest PWM/PPM pulse considered valid.
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Only valid when using Parallel PWM or PPM receivers.
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### `failsafe_max_usec`
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The longest PWM/PPM pulse considered valid.
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Only valid when using Parallel PWM or PPM receivers.
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This setting helps catch when your RX stops sending any data when the RX looses signal.
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With a Graupner GR-24 configured for PWM output with failsafe on channels 1-4 set to OFF on the receiver then this setting at it's default value will allow failsafe to be activated.
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