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RPY to mid-stick and T to lowest (or mid for 3D).

Browse source 
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
This commit is contained in:
ProDrone 2015-06-04 23:31:04 +02:00
parent c282cf4ea7
commit 08b376f2a5
5 changed files with 107 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

42
src/main/io/serial_cli.c
View file

@ -97,6 +97,7 @@ void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort);
static serialPort_t *cliPort;
static void cliAux(char *cmdline);
static void cliRxFail(char *cmdline);
static void cliAdjustmentRange(char *cmdline);
static void cliMotorMix(char *cmdline);
static void cliDefaults(char *cmdline);
@ -256,6 +257,7 @@ const clicmd_t cmdTable[] = {
"[<index>]", cliProfile),
CLI_COMMAND_DEF("rateprofile", "change rate profile",
"[<index>]", cliRateProfile),
CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFail),
CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
CLI_COMMAND_DEF("serial", "configure serial ports", NULL, cliSerial),
#ifdef USE_SERVOS
@ -558,6 +560,43 @@ static bool isEmpty(const char *string)
return *string == '\0';
}
static void cliRxFail(char *cmdline)
{
uint8_t channel;
char buf[3];
if (isEmpty(cmdline)) {
// print out rxConfig failsafe settings
for (channel = 0; channel < MAX_SUPPORTED_RC_CHANNEL_COUNT-4; channel++) {
cliRxFail(itoa(channel, buf, 10));
}
} else {
uint16_t value;
char *ptr = cmdline;
channel = atoi(ptr++);
if ((channel < MAX_SUPPORTED_RC_CHANNEL_COUNT-4)) {
ptr = strchr(ptr, ' ');
if (ptr) {
value = atoi(++ptr);
value = CHANNEL_VALUE_TO_RXFAIL_STEP(value);
if (value > MAX_RXFAIL_RANGE_STEP) {
cliPrint("Value out of range\r\n");
return;
}
masterConfig.rxConfig.rx_fail_usec_steps[channel] = value;
}
// triple use of printf below
// 1. acknowledge interpretation on command,
// 2. query current setting on single item,
// 3. recursive use for full list.
printf("rxfail %u %d\r\n", channel, RXFAIL_STEP_TO_CHANNEL_VALUE(masterConfig.rxConfig.rx_fail_usec_steps[channel]));
} else {
printf("channel must be < %u\r\n", MAX_SUPPORTED_RC_CHANNEL_COUNT-4);
}
}
}
static void cliAux(char *cmdline)
{
int i, val = 0;
@ -1379,6 +1418,9 @@ static void cliDump(char *cmdline)
#endif
printSectionBreak();
dumpValues(MASTER_VALUE);
cliPrint("\r\n# rxfail\r\n");
cliRxFail("");
}
if (dumpMask & DUMP_PROFILE) {