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Code Issues Wiki Activity

Remove killswitch

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2024-03-25 21:34:19 +01:00
parent fb55a61446
commit 46ae6ff745
16 changed files with 7 additions and 112 deletions
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1
docs/development/Blackbox Internals.md
View file

@ -566,7 +566,6 @@ The log end marker is an optional Event ("E") frame of type 0xFF whose payload i
<li> Sticks</li>
<li> Switch_3D</li>
<li> Switch</li>
<li> Killswitch</li>
<li> Failsafe</li>
<li> Navigation</li>
</ol>

10
src/main/fc/fc_core.c
View file

@ -307,14 +307,6 @@ static void updateArmingStatus(void)
DISABLE_ARMING_FLAG(ARMING_DISABLED_BOXFAILSAFE);
}
/* CHECK: BOXKILLSWITCH */
if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_BOXKILLSWITCH);
}
else {
DISABLE_ARMING_FLAG(ARMING_DISABLED_BOXKILLSWITCH);
}
/* CHECK: Do not allow arming if Servo AutoTrim is enabled */
if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM)) {
ENABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
@ -525,7 +517,7 @@ bool emergInflightRearmEnabled(void)
timeMs_t currentTimeMs = millis();
emergRearmStabiliseTimeout = 0;
if ((lastDisarmReason != DISARM_SWITCH && lastDisarmReason != DISARM_KILLSWITCH) ||
if ((lastDisarmReason != DISARM_SWITCH) ||
(currentTimeMs > US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS)) {
return false;
}

1
src/main/fc/fc_core.h
View file

@ -27,7 +27,6 @@ typedef enum disarmReason_e {
DISARM_STICKS = 2,
DISARM_SWITCH_3D = 3,
DISARM_SWITCH = 4,
DISARM_KILLSWITCH = 5,
DISARM_FAILSAFE = 6,
DISARM_NAVIGATION = 7,
DISARM_LANDING = 8,

13
src/main/fc/fc_msp.c
View file

@ -670,11 +670,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, getRSSI());
break;
case MSP_ARMING_CONFIG:
sbufWriteU8(dst, 0);
sbufWriteU8(dst, armingConfig()->disarm_kill_switch);
break;
case MSP_LOOP_TIME:
sbufWriteU16(dst, gyroConfig()->looptime);
break;
@ -1828,14 +1823,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
#endif
case MSP_SET_ARMING_CONFIG:
if (dataSize == 2) {
sbufReadU8(src); //Swallow the first byte, used to be auto_disarm_delay
armingConfigMutable()->disarm_kill_switch = !!sbufReadU8(src);
} else
return MSP_RESULT_ERROR;
break;
case MSP_SET_LOOP_TIME:
if (sbufReadU16Safe(&tmp_u16, src))
gyroConfigMutable()->looptime = tmp_u16;

3
src/main/fc/fc_msp_box.c
View file

@ -76,7 +76,6 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ .boxId = BOXTURNASSIST, .boxName = "TURN ASSIST", .permanentId = 35 },
{ .boxId = BOXNAVLAUNCH, .boxName = "NAV LAUNCH", .permanentId = 36 },
{ .boxId = BOXAUTOTRIM, .boxName = "SERVO AUTOTRIM", .permanentId = 37 },
{ .boxId = BOXKILLSWITCH, .boxName = "KILLSWITCH", .permanentId = 38 },
{ .boxId = BOXCAMERA1, .boxName = "CAMERA CONTROL 1", .permanentId = 39 },
{ .boxId = BOXCAMERA2, .boxName = "CAMERA CONTROL 2", .permanentId = 40 },
{ .boxId = BOXCAMERA3, .boxName = "CAMERA CONTROL 3", .permanentId = 41 },
@ -320,7 +319,6 @@ void initActiveBoxIds(void)
}
#endif
ADD_ACTIVE_BOX(BOXKILLSWITCH);
ADD_ACTIVE_BOX(BOXFAILSAFE);
#if defined(USE_RCDEVICE) || defined(USE_MSP_DISPLAYPORT)
@ -405,7 +403,6 @@ void packBoxModeFlags(boxBitmask_t * mspBoxModeFlags)
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(NAV_LAUNCH_MODE)), BOXNAVLAUNCH);
CHECK_ACTIVE_BOX(IS_ENABLED(FLIGHT_MODE(AUTO_TUNE)), BOXAUTOTUNE);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXAUTOTRIM)), BOXAUTOTRIM);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXKILLSWITCH)), BOXKILLSWITCH);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXHOMERESET)), BOXHOMERESET);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA1)), BOXCAMERA1);
CHECK_ACTIVE_BOX(IS_ENABLED(IS_RC_MODE_ACTIVE(BOXCAMERA2)), BOXCAMERA2);

10
src/main/fc/rc_controls.c
View file

@ -87,11 +87,10 @@ PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
.airmodeThrottleThreshold = SETTING_AIRMODE_THROTTLE_THRESHOLD_DEFAULT,
);
PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 2);
PG_REGISTER_WITH_RESET_TEMPLATE(armingConfig_t, armingConfig, PG_ARMING_CONFIG, 3);
PG_RESET_TEMPLATE(armingConfig_t, armingConfig,
.fixed_wing_auto_arm = SETTING_FIXED_WING_AUTO_ARM_DEFAULT,
.disarm_kill_switch = SETTING_DISARM_KILL_SWITCH_DEFAULT,
.switchDisarmDelayMs = SETTING_SWITCH_DISARM_DELAY_DEFAULT,
.prearmTimeoutMs = SETTING_PREARM_TIMEOUT_DEFAULT,
);
@ -231,20 +230,13 @@ void processRcStickPositions(bool isThrottleLow)
if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
const timeMs_t disarmDelay = currentTimeMs - rcDisarmTimeMs;
if (disarmDelay > armingConfig()->switchDisarmDelayMs) {
if (armingConfig()->disarm_kill_switch || isThrottleLow) {
disarm(DISARM_SWITCH);
}
}
}
else {
rcDisarmTimeMs = currentTimeMs;
}
}
// KILLSWITCH disarms instantly
if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
disarm(DISARM_KILLSWITCH);
}
}
if (rcDelayCommand != 20) {

1
src/main/fc/rc_controls.h
View file

@ -95,7 +95,6 @@ PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
typedef struct armingConfig_s {
bool fixed_wing_auto_arm; // Auto-arm fixed wing aircraft on throttle up and never disarm
bool disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value
uint16_t switchDisarmDelayMs; // additional delay between ARM box going off and actual disarm
uint16_t prearmTimeoutMs; // duration for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout.
} armingConfig_t;

1
src/main/fc/rc_modes.h
View file

@ -49,7 +49,6 @@ typedef enum {
BOXAIRMODE = 20,
BOXHOMERESET = 21,
BOXGCSNAV = 22,
BOXKILLSWITCH = 23, // old HEADING LOCK
BOXSURFACE = 24,
BOXFLAPERON = 25,
BOXTURNASSIST = 26,

3
src/main/fc/runtime_config.c
View file

@ -34,7 +34,7 @@ static EXTENDED_FASTRAM uint32_t enabledSensors = 0;
#if !defined(CLI_MINIMAL_VERBOSITY)
const char *armingDisableFlagNames[]= {
"FS", "ANGLE", "CAL", "OVRLD", "NAV", "COMPASS",
"ACC", "ARMSW", "HWFAIL", "BOXFS", "KILLSW", "RX",
"ACC", "ARMSW", "HWFAIL", "BOXFS", "RX",
"THR", "CLI", "CMS", "OSD", "ROLL/PITCH", "AUTOTRIM", "OOM",
"SETTINGFAIL", "PWMOUT", "NOPREARM", "DSHOTBEEPER", "LANDED"
};
@ -50,7 +50,6 @@ const armingFlag_e armDisableReasonsChecklist[] = {
ARMING_DISABLED_NAVIGATION_UNSAFE,
ARMING_DISABLED_ARM_SWITCH,
ARMING_DISABLED_BOXFAILSAFE,
ARMING_DISABLED_BOXKILLSWITCH,
ARMING_DISABLED_THROTTLE,
ARMING_DISABLED_CLI,
ARMING_DISABLED_CMS_MENU,

4
src/main/fc/runtime_config.h
View file

@ -34,7 +34,7 @@ typedef enum {
ARMING_DISABLED_ARM_SWITCH = (1 << 14),
ARMING_DISABLED_HARDWARE_FAILURE = (1 << 15),
ARMING_DISABLED_BOXFAILSAFE = (1 << 16),
ARMING_DISABLED_BOXKILLSWITCH = (1 << 17),
ARMING_DISABLED_RC_LINK = (1 << 18),
ARMING_DISABLED_THROTTLE = (1 << 19),
ARMING_DISABLED_CLI = (1 << 20),
@ -53,7 +53,7 @@ typedef enum {
ARMING_DISABLED_SYSTEM_OVERLOADED | ARMING_DISABLED_NAVIGATION_UNSAFE |
ARMING_DISABLED_COMPASS_NOT_CALIBRATED | ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED |
ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_HARDWARE_FAILURE | ARMING_DISABLED_BOXFAILSAFE |
ARMING_DISABLED_BOXKILLSWITCH | ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI |
ARMING_DISABLED_RC_LINK | ARMING_DISABLED_THROTTLE | ARMING_DISABLED_CLI |
ARMING_DISABLED_CMS_MENU | ARMING_DISABLED_OSD_MENU | ARMING_DISABLED_ROLLPITCH_NOT_CENTERED |
ARMING_DISABLED_SERVO_AUTOTRIM | ARMING_DISABLED_OOM | ARMING_DISABLED_INVALID_SETTING |
ARMING_DISABLED_PWM_OUTPUT_ERROR | ARMING_DISABLED_NO_PREARM | ARMING_DISABLED_DSHOT_BEEPER |

4
src/main/fc/settings.yaml
View file

@ -1496,10 +1496,6 @@ groups:
description: "Auto-arm fixed wing aircraft on throttle above min_check, and disarming with stick commands are disabled, so power cycle is required to disarm. Requires enabled motorstop and no arm switch configured."
default_value: OFF
type: bool
- name: disarm_kill_switch
description: "Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel."
default_value: ON
type: bool
- name: switch_disarm_delay
description: "Delay before disarming when requested by switch (ms) [0-1000]"
default_value: 250

4
src/main/io/osd.c
View file

@ -902,8 +902,6 @@ static const char * osdArmingDisabledReasonMessage(void)
return OSD_MESSAGE_STR(OSD_MSG_HW_FAIL);
case ARMING_DISABLED_BOXFAILSAFE:
return OSD_MESSAGE_STR(OSD_MSG_FS_EN);
case ARMING_DISABLED_BOXKILLSWITCH:
return OSD_MESSAGE_STR(OSD_MSG_KILL_SW_EN);
case ARMING_DISABLED_RC_LINK:
return OSD_MESSAGE_STR(OSD_MSG_NO_RC_LINK);
case ARMING_DISABLED_THROTTLE:
@ -4424,7 +4422,7 @@ static void osdUpdateStats(void)
static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
{
const char * disarmReasonStr[DISARM_REASON_COUNT] = { "UNKNOWN", "TIMEOUT", "STICKS", "SWITCH", "SWITCH", "KILLSW", "FAILSAFE", "NAV SYS", "LANDING"};
const char * disarmReasonStr[DISARM_REASON_COUNT] = { "UNKNOWN", "TIMEOUT", "STICKS", "SWITCH", "SWITCH", "", "FAILSAFE", "NAV SYS", "LANDING"};
uint8_t top = 1; // Start one line down leaving space at the top of the screen.
size_t multiValueLengthOffset = 0;

1
src/main/io/osd.h
View file

@ -75,7 +75,6 @@
#define OSD_MSG_PITOT_FAIL "PITOT METER FAILURE"
#define OSD_MSG_HW_FAIL "HARDWARE FAILURE"
#define OSD_MSG_FS_EN "FAILSAFE MODE ENABLED"
#define OSD_MSG_KILL_SW_EN "KILLSWITCH MODE ENABLED"
#define OSD_MSG_NO_RC_LINK "NO RC LINK"
#define OSD_MSG_THROTTLE_NOT_LOW "THROTTLE IS NOT LOW"
#define OSD_MSG_ROLLPITCH_OFFCENTER "ROLLPITCH NOT CENTERED"

2
src/main/io/osd_dji_hd.c
View file

@ -505,8 +505,6 @@ static char * osdArmingDisabledReasonMessage(void)
// return OSD_MESSAGE_STR("HARDWARE FAILURE");
case ARMING_DISABLED_BOXFAILSAFE:
return OSD_MESSAGE_STR("FAILSAFE ENABLED");
case ARMING_DISABLED_BOXKILLSWITCH:
return OSD_MESSAGE_STR("KILLSWITCH ENABLED");
case ARMING_DISABLED_RC_LINK:
return OSD_MESSAGE_STR("NO RC LINK");
case ARMING_DISABLED_THROTTLE:

3
src/main/msp/msp_protocol.h
View file

@ -163,9 +163,6 @@
#define MSP_SONAR_ALTITUDE 58 //out message get surface altitude [cm]
#define MSP_ARMING_CONFIG 61 //out message Returns auto_disarm_delay and disarm_kill_switch parameters
#define MSP_SET_ARMING_CONFIG 62 //in message Sets auto_disarm_delay and disarm_kill_switch parameters
//
// Baseflight MSP commands (if enabled they exist in Cleanflight)
//

56
src/test/unit/flight_failsafe_unittest.cc.txt
View file

@ -297,62 +297,6 @@ TEST(FlightFailsafeTest, TestFailsafeDetectsRxLossAndJustDisarms)
EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
}
/****************************************************************************************/
TEST(FlightFailsafeTest, TestFailsafeDetectsKillswitchEvent)
{
// given
ENABLE_ARMING_FLAG(ARMED);
resetCallCounters();
failsafeStartMonitoring();
// and
throttleStatus = THROTTLE_HIGH; // throttle HIGH to go for a failsafe landing procedure
failsafeConfig.failsafe_kill_switch = 1; // configure AUX switch as kill switch
ACTIVATE_RC_MODE(BOXFAILSAFE); // and activate it
sysTickUptime = 0; // restart time from 0
failsafeOnValidDataReceived(); // set last valid sample at current time
sysTickUptime = PERIOD_RXDATA_FAILURE + 1; // adjust time to point just past the failure time to
failsafeOnValidDataFailed(); // cause a lost link
// when
failsafeUpdateState(); // kill switch handling should come first
// then
EXPECT_EQ(true, failsafeIsActive());
EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// given
failsafeOnValidDataFailed(); // set last invalid sample at current time
sysTickUptime += PERIOD_RXDATA_RECOVERY + 1; // adjust time to point just past the recovery time to
failsafeOnValidDataReceived(); // cause a recovered link
rcModeActivationMask = DE_ACTIVATE_ALL_BOXES; // BOXFAILSAFE must be off (kill switch)
// when
failsafeUpdateState();
// then
EXPECT_EQ(true, failsafeIsActive());
EXPECT_TRUE(ARMING_FLAG(PREVENT_ARMING));
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM));
EXPECT_EQ(FAILSAFE_RX_LOSS_MONITORING, failsafePhase());
// given
sysTickUptime += PERIOD_OF_1_SECONDS + 1; // adjust time to point just past the required additional recovery time
failsafeOnValidDataReceived();
// when
failsafeUpdateState();
// then
EXPECT_EQ(false, failsafeIsActive());
EXPECT_EQ(FAILSAFE_IDLE, failsafePhase());
EXPECT_EQ(1, CALL_COUNTER(COUNTER_MW_DISARM)); // disarm not called repeatedly.
EXPECT_FALSE(ARMING_FLAG(PREVENT_ARMING));
}
/****************************************************************************************/
//
// Additional non-stepwise tests