Remove Stage1 failsafe; Deprecate FEATURE_FAILSAFE

src/main/config/parameter_group_ids.h

@@ -61,7 +61,7 @@
 #define PG_MODE_ACTIVATION_PROFILE 41
 //#define PG_SERVO_PROFILE 42
 #define PG_SERVO_PARAMS 42
-#define PG_RX_FAILSAFE_CHANNEL_CONFIG 43
+//#define PG_RX_FAILSAFE_CHANNEL_CONFIG 43
 #define PG_RX_CHANNEL_RANGE_CONFIG 44
 //#define PG_MODE_COLOR_CONFIG 45
 //#define PG_SPECIAL_COLOR_CONFIG 46

src/main/fc/config.c

@@ -89,7 +89,7 @@
 PG_REGISTER_WITH_RESET_TEMPLATE(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
 
 PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
-    .enabledFeatures = DEFAULT_FEATURES | DEFAULT_RX_FEATURE | FEATURE_FAILSAFE
+    .enabledFeatures = DEFAULT_FEATURES | DEFAULT_RX_FEATURE
 );
 
 PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);

src/main/fc/config.h

@@ -49,7 +49,7 @@ typedef enum {
     FEATURE_SERVO_TILT = 1 << 5,
     FEATURE_SOFTSERIAL = 1 << 6,
     FEATURE_GPS = 1 << 7,
-    FEATURE_FAILSAFE = 1 << 8,
+    FEATURE_UNUSED_3 = 1 << 8,          // was FAILSAFE
     FEATURE_SONAR = 1 << 9,
     FEATURE_TELEMETRY = 1 << 10,
     FEATURE_CURRENT_METER = 1 << 11,

src/main/fc/fc_msp.c

@@ -325,9 +325,7 @@ static void initActiveBoxIds(void)
     }
 #endif
 
-    if (feature(FEATURE_FAILSAFE)){
+    activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;
-        activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;
-    }
 }
 
 #define IS_ENABLED(mask) (mask == 0 ? 0 : 1)
@@ -904,13 +902,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         sbufWriteU8(dst, failsafeConfig()->failsafe_recovery_delay);
         break;
 
-    case MSP_RXFAIL_CONFIG:
-        for (int i = 0; i < rxRuntimeConfig.channelCount; i++) {
-            sbufWriteU8(dst, rxFailsafeChannelConfigs(i)->mode);
-            sbufWriteU16(dst, RXFAIL_STEP_TO_CHANNEL_VALUE(rxFailsafeChannelConfigs(i)->step));
-        }
-        break;
-
     case MSP_RSSI_CONFIG:
         sbufWriteU8(dst, rxConfig()->rssi_channel);
         break;
@@ -1886,16 +1877,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         }
         break;
 
-    case MSP_SET_RXFAIL_CONFIG:
-        i = sbufReadU8(src);
-        if (i < MAX_SUPPORTED_RC_CHANNEL_COUNT) {
-            rxFailsafeChannelConfigsMutable(i)->mode = sbufReadU8(src);
-            rxFailsafeChannelConfigsMutable(i)->step = CHANNEL_VALUE_TO_RXFAIL_STEP(sbufReadU16(src));
-        } else {
-            return MSP_RESULT_ERROR;
-        }
-        break;
-
     case MSP_SET_RSSI_CONFIG:
         rxConfigMutable()->rssi_channel = sbufReadU8(src);
         break;

src/main/fc/mw.c

@@ -302,15 +302,13 @@ void processRx(timeUs_t currentTimeUs)
 
     updateRSSI(currentTimeUs);
 
-    if (feature(FEATURE_FAILSAFE)) {
+    // Update failsafe monitoring system
-
+    if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
-        if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
+        failsafeStartMonitoring();
-            failsafeStartMonitoring();
-        }
-
-        failsafeUpdateState();
     }
 
+    failsafeUpdateState();
+
     const throttleStatus_e throttleStatus = calculateThrottleStatus(flight3DConfig()->deadband3d_throttle);
 
     // When armed and motors aren't spinning, do beeps and then disarm
@@ -368,7 +366,7 @@ void processRx(timeUs_t currentTimeUs)
 
     bool canUseHorizonMode = true;
 
-    if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive()) || naivationRequiresAngleMode()) && sensors(SENSOR_ACC)) {
+    if ((IS_RC_MODE_ACTIVE(BOXANGLE) || failsafeIsActive() || naivationRequiresAngleMode()) && sensors(SENSOR_ACC)) {
         // bumpless transfer to Level mode
         canUseHorizonMode = false;
 

src/main/fc/rc_controls.c

@@ -164,7 +164,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
             // Disarming via ARM BOX
             // Don't disarm via switch if failsafe is active or receiver doesn't receive data - we can't trust receiver
             // and can't afford to risk disarming in the air
-            if (ARMING_FLAG(ARMED) && !(IS_RC_MODE_ACTIVE(BOXFAILSAFE) && feature(FEATURE_FAILSAFE)) && rxIsReceivingSignal() && !failsafeIsActive()) {
+            if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
                 rcDisarmTicks++;
                 if (rcDisarmTicks > 3) {    // Wait for at least 3 RX ticks (60ms @ 50Hz RX)
                     if (disarm_kill_switch) {

src/main/fc/serial_cli.c

@@ -147,21 +147,13 @@ static const char * const mixerNames[] = {
 // sync this with features_e
 static const char * const featureNames[] = {
     "RX_PPM", "VBAT", "UNUSED_1", "RX_SERIAL", "MOTOR_STOP",
-    "SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
+    "SERVO_TILT", "SOFTSERIAL", "GPS", "UNUSED_3",
     "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
     "RX_MSP", "RSSI_ADC", "LED_STRIP", "DASHBOARD", "UNUSED_2",
     "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
     "SUPEREXPO", "VTX", "RX_SPI", "SOFTSPI", "PWM_SERVO_DRIVER", "PWM_OUTPUT_ENABLE", "OSD", NULL
 };
 
-// sync this with rxFailsafeChannelMode_e
-static const char rxFailsafeModeCharacters[] = "ahs";
-
-static const rxFailsafeChannelMode_e rxFailsafeModesTable[RX_FAILSAFE_TYPE_COUNT][RX_FAILSAFE_MODE_COUNT] = {
-    { RX_FAILSAFE_MODE_AUTO, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_INVALID },
-    { RX_FAILSAFE_MODE_INVALID, RX_FAILSAFE_MODE_HOLD, RX_FAILSAFE_MODE_SET }
-};
-
 /* Sensor names (used in lookup tables for *_hardware settings and in status command output) */
 // sync with gyroSensor_e
 static const char * const gyroNames[] = { "NONE", "AUTO", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "FAKE"};
@@ -897,7 +889,6 @@ static rxConfig_t rxConfigCopy;
 #ifdef BLACKBOX
 static blackboxConfig_t blackboxConfigCopy;
 #endif
-static rxFailsafeChannelConfig_t rxFailsafeChannelConfigsCopy[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 static rxChannelRangeConfig_t rxChannelRangeConfigsCopy[NON_AUX_CHANNEL_COUNT];
 static motorConfig_t motorConfigCopy;
 static failsafeConfig_t failsafeConfigCopy;
@@ -1261,10 +1252,6 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
         ret.currentConfig = &pidProfileCopy[getConfigProfile()];
         ret.defaultConfig = pidProfile();
         break;
-    case PG_RX_FAILSAFE_CHANNEL_CONFIG:
-        ret.currentConfig = &rxFailsafeChannelConfigsCopy[0];
-        ret.defaultConfig = rxFailsafeChannelConfigs(0);
-        break;
     case PG_RX_CHANNEL_RANGE_CONFIG:
         ret.currentConfig = &rxChannelRangeConfigsCopy[0];
         ret.defaultConfig = rxChannelRangeConfigs(0);
@@ -1478,133 +1465,6 @@ static bool isEmpty(const char *string)
     return (string == NULL || *string == '\0') ? true : false;
 }
 
-static void printRxFailsafe(uint8_t dumpMask, const rxFailsafeChannelConfig_t *rxFailsafeChannelConfigs, const rxFailsafeChannelConfig_t *defaultRxFailsafeChannelConfigs)
-{
-    // print out rxConfig failsafe settings
-    for (uint32_t channel = 0; channel < MAX_SUPPORTED_RC_CHANNEL_COUNT; channel++) {
-        const rxFailsafeChannelConfig_t *channelFailsafeConfig = &rxFailsafeChannelConfigs[channel];
-        const rxFailsafeChannelConfig_t *channelFailsafeConfigDefault;
-        bool equalsDefault = true;
-        if (defaultRxFailsafeChannelConfigs) {
-            channelFailsafeConfigDefault = &defaultRxFailsafeChannelConfigs[channel];
-            equalsDefault = (channelFailsafeConfig->mode == channelFailsafeConfigDefault->mode)
-                    && (channelFailsafeConfig->step == channelFailsafeConfigDefault->step);
-        }
-        const bool requireValue = channelFailsafeConfig->mode == RX_FAILSAFE_MODE_SET;
-        if (requireValue) {
-            const char *format = "rxfail %u %c %d\r\n";
-            if (defaultRxFailsafeChannelConfigs) {
-                cliDefaultPrintf(dumpMask, equalsDefault, format,
-                    channel,
-                    rxFailsafeModeCharacters[channelFailsafeConfigDefault->mode],
-                    RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfigDefault->step)
-                );
-            }
-            cliDumpPrintf(dumpMask, equalsDefault, format,
-                channel,
-                rxFailsafeModeCharacters[channelFailsafeConfig->mode],
-                RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfig->step)
-            );
-        } else {
-            const char *format = "rxfail %u %c\r\n";
-            if (defaultRxFailsafeChannelConfigs) {
-                cliDefaultPrintf(dumpMask, equalsDefault, format,
-                    channel,
-                    rxFailsafeModeCharacters[channelFailsafeConfigDefault->mode]
-                );
-            }
-            cliDumpPrintf(dumpMask, equalsDefault, format,
-                channel,
-                rxFailsafeModeCharacters[channelFailsafeConfig->mode]
-            );
-        }
-    }
-}
-
-static void cliRxFailsafe(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; channel++) {
-            cliRxFailsafe(itoa(channel, buf, 10));
-        }
-    } else {
-        const char *ptr = cmdline;
-        channel = atoi(ptr++);
-        if ((channel < MAX_SUPPORTED_RC_CHANNEL_COUNT)) {
-
-            // const cast
-            rxFailsafeChannelConfig_t *channelFailsafeConfig = rxFailsafeChannelConfigsMutable(channel);
-
-            const rxFailsafeChannelType_e type = (channel < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_TYPE_FLIGHT : RX_FAILSAFE_TYPE_AUX;
-            rxFailsafeChannelMode_e mode = channelFailsafeConfig->mode;
-            bool requireValue = channelFailsafeConfig->mode == RX_FAILSAFE_MODE_SET;
-
-            ptr = nextArg(ptr);
-            if (ptr) {
-                const char *p = strchr(rxFailsafeModeCharacters, *(ptr));
-                if (p) {
-                    const uint8_t requestedMode = p - rxFailsafeModeCharacters;
-                    mode = rxFailsafeModesTable[type][requestedMode];
-                } else {
-                    mode = RX_FAILSAFE_MODE_INVALID;
-                }
-                if (mode == RX_FAILSAFE_MODE_INVALID) {
-                    cliShowParseError();
-                    return;
-                }
-
-                requireValue = mode == RX_FAILSAFE_MODE_SET;
-
-                ptr = nextArg(ptr);
-                if (ptr) {
-                    if (!requireValue) {
-                        cliShowParseError();
-                        return;
-                    }
-                    uint16_t value = atoi(ptr);
-                    value = CHANNEL_VALUE_TO_RXFAIL_STEP(value);
-                    if (value > MAX_RXFAIL_RANGE_STEP) {
-                        cliPrint("Value out of range\r\n");
-                        return;
-                    }
-
-                    channelFailsafeConfig->step = value;
-                } else if (requireValue) {
-                    cliShowParseError();
-                    return;
-                }
-                channelFailsafeConfig->mode = mode;
-            }
-
-            char modeCharacter = rxFailsafeModeCharacters[channelFailsafeConfig->mode];
-
-            // triple use of cliPrintf below
-            // 1. acknowledge interpretation on command,
-            // 2. query current setting on single item,
-            // 3. recursive use for full list.
-
-            if (requireValue) {
-                cliPrintf("rxfail %u %c %d\r\n",
-                    channel,
-                    modeCharacter,
-                    RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfig->step)
-                );
-            } else {
-                cliPrintf("rxfail %u %c\r\n",
-                    channel,
-                    modeCharacter
-                );
-            }
-        } else {
-            cliShowArgumentRangeError("channel", 0, MAX_SUPPORTED_RC_CHANNEL_COUNT - 1);
-        }
-    }
-}
-
 #if defined(USE_ASSERT)
 static void cliAssert(char *cmdline)
 {
@@ -3548,9 +3408,6 @@ static void printConfig(const char *cmdline, bool doDiff)
         cliPrintHashLine("rxrange");
         printRxRange(dumpMask, rxChannelRangeConfigsCopy, rxChannelRangeConfigs(0));
 
-        cliPrintHashLine("rxfail");
-        printRxFailsafe(dumpMask, rxFailsafeChannelConfigsCopy, rxFailsafeChannelConfigs(0));
-
         cliPrintHashLine("master");
         dumpAllValues(MASTER_VALUE, dumpMask);
 
@@ -3680,7 +3537,6 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
 #endif
     CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
-    CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFailsafe),
     CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
     CLI_COMMAND_DEF("serial", "configure serial ports", NULL, cliSerial),
 #ifdef USE_SERVOS

src/main/io/ledstrip.c

@@ -538,7 +538,7 @@ static void applyLedWarningLayer(bool updateNow, timeUs_t *timer)
             warningFlags = 0;
             if (feature(FEATURE_VBAT) && getBatteryState() != BATTERY_OK)
                 warningFlags |= 1 << WARNING_LOW_BATTERY;
-            if (feature(FEATURE_FAILSAFE) && failsafeIsActive())
+            if (failsafeIsActive())
                 warningFlags |= 1 << WARNING_FAILSAFE;
             if (!ARMING_FLAG(ARMED) && !ARMING_FLAG(OK_TO_ARM))
                 warningFlags |= 1 << WARNING_ARMING_DISABLED;

src/main/msp/msp_protocol.h

@@ -189,8 +189,9 @@
 #define MSP_FAILSAFE_CONFIG             75 //out message         Returns FC Fail-Safe settings
 #define MSP_SET_FAILSAFE_CONFIG         76 //in message          Sets FC Fail-Safe settings
 
-#define MSP_RXFAIL_CONFIG               77 //out message         Returns RXFAIL settings
+// DEPRECATED
-#define MSP_SET_RXFAIL_CONFIG           78 //in message          Sets RXFAIL settings
+//#define MSP_RXFAIL_CONFIG               77 //out message         Returns RXFAIL settings
+//#define MSP_SET_RXFAIL_CONFIG           78 //in message          Sets RXFAIL settings
 
 #define MSP_SDCARD_SUMMARY              79 //out message         Get the state of the SD card
 

src/main/rx/rx.c

@@ -143,21 +143,6 @@ void pgResetFn_rxChannelRangeConfigs(rxChannelRangeConfig_t *rxChannelRangeConfi
     }
 }
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(rxFailsafeChannelConfig_t, MAX_SUPPORTED_RC_CHANNEL_COUNT, rxFailsafeChannelConfigs, PG_RX_FAILSAFE_CHANNEL_CONFIG, 0);
-
-void pgResetFn_rxFailsafeChannelConfigs(rxFailsafeChannelConfig_t *rxFailsafeChannelConfigs)
-{
-    for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
-        if (i== THROTTLE) {
-            rxFailsafeChannelConfigs[i].mode = RX_FAILSAFE_MODE_HOLD;
-            rxFailsafeChannelConfigs[i].step = CHANNEL_VALUE_TO_RXFAIL_STEP(RX_MIN_USEX);
-        } else {
-            rxFailsafeChannelConfigs[i].mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
-            rxFailsafeChannelConfigs[i].step = CHANNEL_VALUE_TO_RXFAIL_STEP(RX_MIDRC);
-        }
-    }
-}
-
 static uint16_t nullReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel)
 {
     UNUSED(rxRuntimeConfig);
@@ -423,30 +408,23 @@ static uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample)
     return rcDataMean[chan] / PPM_AND_PWM_SAMPLE_COUNT;
 }
 
-static uint16_t getRxfailValue(uint8_t channel)
+static uint16_t getRxNosignalValue(uint8_t channel)
 {
-    switch(rxFailsafeChannelConfigs(channel)->mode) {
+    switch (channel) {
-    case RX_FAILSAFE_MODE_AUTO:
-        switch (channel) {
         case ROLL:
         case PITCH:
         case YAW:
             return rxConfig()->midrc;
+
         case THROTTLE:
             if (feature(FEATURE_3D))
                 return rxConfig()->midrc;
             else
-                return rxConfig()->rx_min_usec;
+                //return rxConfig()->rx_min_usec;
-        }
+                return rcData[channel];
-        /* no break */
 
-    default:
+        default:
-    case RX_FAILSAFE_MODE_INVALID:
+            return rcData[channel];
-    case RX_FAILSAFE_MODE_HOLD:
-        return rcData[channel];
-
-    case RX_FAILSAFE_MODE_SET:
-        return RXFAIL_STEP_TO_CHANNEL_VALUE(rxFailsafeChannelConfigs(channel)->step);
     }
 }
 
@@ -514,7 +492,7 @@ static void detectAndApplySignalLossBehaviour(void)
             if (currentMilliTime < rcInvalidPulsPeriod[channel]) {
                 sample = rcData[channel];           // hold channel for MAX_INVALID_PULS_TIME
             } else {
-                sample = getRxfailValue(channel);   // after that apply rxfail value
+                sample = getRxNosignalValue(channel);   // after that apply rxfail value
                 rxUpdateFlightChannelStatus(channel, validPulse);
             }
         } else {
@@ -530,14 +508,14 @@ static void detectAndApplySignalLossBehaviour(void)
 
     rxFlightChannelsValid = rxHaveValidFlightChannels();
 
-    if ((rxFlightChannelsValid) && !(IS_RC_MODE_ACTIVE(BOXFAILSAFE) && feature(FEATURE_FAILSAFE))) {
+    if (rxFlightChannelsValid && !IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
         failsafeOnValidDataReceived();
     } else {
         rxIsInFailsafeMode = rxIsInFailsafeModeNotDataDriven = true;
         failsafeOnValidDataFailed();
 
         for (int channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
-            rcData[channel] = getRxfailValue(channel);
+            rcData[channel] = getRxNosignalValue(channel);
         }
     }
 

src/main/rx/rx.h

@@ -85,28 +85,6 @@ extern int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];       // interval [1000;2
 #define RSSI_SCALE_MAX 255
 #define RSSI_SCALE_DEFAULT 30
 
-typedef enum {
-    RX_FAILSAFE_MODE_AUTO = 0,
-    RX_FAILSAFE_MODE_HOLD,
-    RX_FAILSAFE_MODE_SET,
-    RX_FAILSAFE_MODE_INVALID
-} rxFailsafeChannelMode_e;
-
-#define RX_FAILSAFE_MODE_COUNT 3
-
-typedef enum {
-    RX_FAILSAFE_TYPE_FLIGHT = 0,
-    RX_FAILSAFE_TYPE_AUX
-} rxFailsafeChannelType_e;
-
-#define RX_FAILSAFE_TYPE_COUNT 2
-
-typedef struct rxFailsafeChannelConfig_s {
-    uint8_t mode; // See rxFailsafeChannelMode_e
-    uint8_t step;
-} rxFailsafeChannelConfig_t;
-PG_DECLARE_ARRAY(rxFailsafeChannelConfig_t, MAX_SUPPORTED_RC_CHANNEL_COUNT, rxFailsafeChannelConfigs);
-
 typedef struct rxChannelRangeConfig_s {
     uint16_t min;
     uint16_t max;

src/main/target/COLIBRI_RACE/config.c

@@ -45,7 +45,6 @@ void targetConfiguration(void)
 
     featureSet(FEATURE_VBAT);
     featureSet(FEATURE_LED_STRIP);
-    featureSet(FEATURE_FAILSAFE);
 
     serialConfigMutable()->portConfigs[0].functionMask = FUNCTION_MSP;
     if (featureConfigured(FEATURE_RX_SERIAL)) {