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https://github.com/betaflight/betaflight.git
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f0681de53d
- 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 |
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| .. | ||
| API | ||
| assets | ||
| development | ||
| Screenshots | ||
| Wiring | ||
| Autotune.md | ||
| Battery.md | ||
| Blackbox.md | ||
| Board - AlienWii32.md | ||
| Board - CC3D.md | ||
| Board - ChebuzzF3.md | ||
| Board - CJMCU.md | ||
| Board - Naze32.md | ||
| Board - Olimexino.md | ||
| Board - Paris Air Hero 32.md | ||
| Board - Sparky.md | ||
| Board - SPRacingF3.md | ||
| Boards.md | ||
| Buzzer.md | ||
| Cli.md | ||
| Configuration.md | ||
| Controls.md | ||
| Display.md | ||
| Failsafe.md | ||
| Getting Started.md | ||
| Gps.md | ||
| Inflight Adjustments.md | ||
| Installation.md | ||
| Introduction.md | ||
| LedStrip.md | ||
| Migrating from baseflight.md | ||
| Mixer.md | ||
| Modes.md | ||
| Oneshot.md | ||
| override.css | ||
| PID tuning.md | ||
| Profiles.md | ||
| Rssi.md | ||
| Rx.md | ||
| Safety.md | ||
| Serial.md | ||
| Sonar.md | ||
| Spektrum bind.md | ||
| Telemetry.md | ||