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RTH on failsafe can now be set via CLI. Disabled RC input when executing failsafe RTH.

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-11-25 16:28:43 +10:00
parent ed0f85c41b
commit 6850fe324f
2 changed files with 13 additions and 7 deletions
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9
src/main/io/serial_cli.c
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@ -357,6 +357,9 @@ static const char * const lookupTableSerialRX[] = {
"XB-B-RJ01"
};
static const char * const lookupTableFailsafeProcedure[] = {
"SET-THR", "RTH"
};
typedef struct lookupTableEntry_s {
const char * const *values;
@ -378,6 +381,7 @@ typedef enum {
TABLE_GIMBAL_MODE,
TABLE_PID_CONTROLLER,
TABLE_SERIAL_RX,
TABLE_FAILSAFE_PROCEDURE,
} lookupTableIndex_e;
static const lookupTableEntry_t lookupTables[] = {
@ -394,7 +398,8 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableCurrentSensor, sizeof(lookupTableCurrentSensor) / sizeof(char *) },
{ lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
{ lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) }
{ lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
{ lookupTableFailsafeProcedure, sizeof(lookupTableFailsafeProcedure) / sizeof(char *) },
};
#define VALUE_TYPE_OFFSET 0
@ -627,7 +632,7 @@ const clivalue_t valueTable[] = {
{ "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX }, 0 },
{ "failsafe_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.failsafeConfig.failsafe_kill_switch, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle_low_delay, .config.minmax = { 0, 300 }, 0 },
{ "failsafe_procedure", VAR_UINT8 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_procedure, .config.minmax = { 0, 1 }, 0 },
{ "failsafe_procedure", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.failsafeConfig.failsafe_procedure, .config.lookup = { TABLE_FAILSAFE_PROCEDURE }, 0 },
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_min_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, 0 },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, 0 },