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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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11
src/main/flight/navigation_rewrite.c
View file

@ -1504,23 +1504,23 @@ void resetNavigation(void)
*-----------------------------------------------------------*/ *-----------------------------------------------------------*/
static void processNavigationRCAdjustments(void) static void processNavigationRCAdjustments(void)
{ {
/* Process pilot's RC input */ /* Process pilot's RC input. Disable all pilot's input when in FAILSAFE_MODE */
navigationFSMStateFlags_t navStateFlags = navGetStateFlags(posControl.navState); navigationFSMStateFlags_t navStateFlags = navGetStateFlags(posControl.navState);
if (navStateFlags & NAV_RC_ALT) { if ((navStateFlags & NAV_RC_ALT) && (!FLIGHT_MODE(FAILSAFE_MODE))) {
posControl.flags.isAdjustingAltitude = adjustAltitudeFromRCInput(); posControl.flags.isAdjustingAltitude = adjustAltitudeFromRCInput();
} }
else { else {
posControl.flags.isAdjustingAltitude = false; posControl.flags.isAdjustingAltitude = false;
} }
if (navStateFlags & NAV_RC_POS) { if ((navStateFlags & NAV_RC_POS) && (!FLIGHT_MODE(FAILSAFE_MODE))) {
posControl.flags.isAdjustingPosition = adjustPositionFromRCInput(); posControl.flags.isAdjustingPosition = adjustPositionFromRCInput();
} }
else { else {
posControl.flags.isAdjustingPosition = false; posControl.flags.isAdjustingPosition = false;
} }
if (navStateFlags & NAV_RC_YAW) { if ((navStateFlags & NAV_RC_YAW) && (!FLIGHT_MODE(FAILSAFE_MODE))) {
posControl.flags.isAdjustingHeading = adjustHeadingFromRCInput(); posControl.flags.isAdjustingHeading = adjustHeadingFromRCInput();
} }
else { else {
@ -1547,6 +1547,8 @@ void applyWaypointNavigationAndAltitudeHold(void)
// No navigation when disarmed // No navigation when disarmed
if (!ARMING_FLAG(ARMED)) { if (!ARMING_FLAG(ARMED)) {
// If we are disarmed, abort forced RTH
posControl.flags.forcedRTHActivated = false;
return; return;
} }
@ -1849,7 +1851,6 @@ void abortForcedRTH(void)
rthState_e getStateOfForcedRTH(void) rthState_e getStateOfForcedRTH(void)
{ {
if (navGetStateFlags(posControl.navState) & NAV_AUTO_RTH) { if (navGetStateFlags(posControl.navState) & NAV_AUTO_RTH) {
if (posControl.navState == NAV_STATE_RTH_2D_FINISHED || posControl.navState == NAV_STATE_RTH_3D_FINISHED) { if (posControl.navState == NAV_STATE_RTH_2D_FINISHED || posControl.navState == NAV_STATE_RTH_3D_FINISHED) {
return RTH_HAS_LANDED; return RTH_HAS_LANDED;
} }

9
src/main/io/serial_cli.c
View file

@ -357,6 +357,9 @@ static const char * const lookupTableSerialRX[] = {
"XB-B-RJ01" "XB-B-RJ01"
}; };
static const char * const lookupTableFailsafeProcedure[] = {
"SET-THR", "RTH"
};
typedef struct lookupTableEntry_s { typedef struct lookupTableEntry_s {
const char * const *values; const char * const *values;
@ -378,6 +381,7 @@ typedef enum {
TABLE_GIMBAL_MODE, TABLE_GIMBAL_MODE,
TABLE_PID_CONTROLLER, TABLE_PID_CONTROLLER,
TABLE_SERIAL_RX, TABLE_SERIAL_RX,
TABLE_FAILSAFE_PROCEDURE,
} lookupTableIndex_e; } lookupTableIndex_e;
static const lookupTableEntry_t lookupTables[] = { static const lookupTableEntry_t lookupTables[] = {
@ -394,7 +398,8 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableCurrentSensor, sizeof(lookupTableCurrentSensor) / sizeof(char *) }, { lookupTableCurrentSensor, sizeof(lookupTableCurrentSensor) / sizeof(char *) },
{ lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) }, { lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
{ lookupTablePidController, sizeof(lookupTablePidController) / 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 #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_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_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_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_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 }, { "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, 0 },