Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-20 06:45:14 +03:00
Code Issues Wiki Activity

Log last disarm reason to blackbox, report via LTM

Browse source
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-04-05 14:49:20 +10:00
parent ab12330ef0
commit d3147b71e8
8 changed files with 41 additions and 14 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/blackbox/blackbox.c
View file

@ -48,6 +48,7 @@
#include "drivers/time.h"
#include "fc/config.h"
#include "fc/fc_core.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
@ -1453,7 +1454,7 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
blackboxWrite(0);
break;
case FLIGHT_LOG_EVENT_LOG_END:
blackboxPrint("End of log");
blackboxPrintf("End of log (disarm reason:%d)", getDisarmReason());
blackboxWrite(0);
break;
}

14
src/main/fc/fc_core.c
View file

@ -45,6 +45,7 @@
#include "sensors/gyro.h"
#include "sensors/battery.h"
#include "fc/fc_core.h"
#include "fc/cli.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
@ -103,6 +104,7 @@ int16_t telemTemperature1; // gyro sensor temperature
static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
static bool isRXDataNew;
static disarmReason_t lastDisarmReason = DISARM_NONE;
bool isCalibrating(void)
{
@ -222,9 +224,10 @@ void annexCode(void)
}
}
void mwDisarm(void)
void mwDisarm(disarmReason_t disarmReason)
{
if (ARMING_FLAG(ARMED)) {
lastDisarmReason = disarmReason;
DISABLE_ARMING_FLAG(ARMED);
#ifdef BLACKBOX
@ -237,6 +240,11 @@ void mwDisarm(void)
}
}
disarmReason_t getDisarmReason(void)
{
return lastDisarmReason;
}
#define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK | FUNCTION_TELEMETRY_IBUS)
void releaseSharedTelemetryPorts(void) {
@ -302,7 +310,7 @@ void processRx(timeUs_t currentTimeUs)
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
mwDisarm();
mwDisarm(DISARM_SWITCH_3D);
}
updateRSSI(currentTimeUs);
@ -329,7 +337,7 @@ void processRx(timeUs_t currentTimeUs)
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
mwDisarm();
mwDisarm(DISARM_TIMEOUT);
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed

14
src/main/fc/fc_core.h
View file

@ -19,9 +19,21 @@
extern int16_t telemTemperature1;
typedef enum disarmReason_e {
DISARM_NONE = 0,
DISARM_TIMEOUT = 1,
DISARM_STICKS = 2,
DISARM_SWITCH_3D = 3,
DISARM_SWITCH = 4,
DISARM_KILLSWITCH = 5,
DISARM_FAILSAFE = 6,
DISARM_NAVIGATION = 7
} disarmReason_t;
void handleInflightCalibrationStickPosition();
void mwDisarm(void);
void mwDisarm(disarmReason_t disarmReason);
void mwArm(void);
disarmReason_t getDisarmReason(void);
bool isCalibrating(void);

8
src/main/fc/rc_controls.c
View file

@ -179,9 +179,9 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
rcDisarmTicks++;
if (rcDisarmTicks > 3) { // Wait for at least 3 RX ticks (60ms @ 50Hz RX)
if (disarm_kill_switch) {
mwDisarm();
mwDisarm(DISARM_SWITCH);
} else if (throttleStatus == THROTTLE_LOW) {
mwDisarm();
mwDisarm(DISARM_SWITCH);
}
}
}
@ -193,7 +193,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
// KILLSWITCH disarms instantly
if (IS_RC_MODE_ACTIVE(BOXKILLSWITCH)) {
mwDisarm();
mwDisarm(DISARM_KILLSWITCH);
}
if (rcDelayCommand != 20) {
@ -208,7 +208,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
return;
}
else if (ARMING_FLAG(ARMED)) {
mwDisarm();
mwDisarm(DISARM_STICKS);
}
else {
beeper(BEEPER_DISARM_REPEAT); // sound tone while stick held

2
src/main/fc/runtime_config.h
View file

@ -111,5 +111,3 @@ bool sensors(uint32_t mask);
void sensorsSet(uint32_t mask);
void sensorsClear(uint32_t mask);
uint32_t sensorsMask(void);
void mwDisarm(void);

8
src/main/flight/failsafe.c
View file

@ -34,6 +34,7 @@
#include "io/beeper.h"
#include "fc/fc_core.h"
#include "fc/config.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
@ -143,6 +144,11 @@ void failsafeReset(void)
failsafeState.receivingRxDataPeriodPreset = 0;
failsafeState.phase = FAILSAFE_IDLE;
failsafeState.rxLinkState = FAILSAFE_RXLINK_DOWN;
failsafeState.lastGoodRcCommand[ROLL] = 0;
failsafeState.lastGoodRcCommand[PITCH] = 0;
failsafeState.lastGoodRcCommand[YAW] = 0;
failsafeState.lastGoodRcCommand[THROTTLE] = 1000;
}
void failsafeInit(void)
@ -461,7 +467,7 @@ void failsafeUpdateState(void)
case FAILSAFE_LANDED:
ENABLE_ARMING_FLAG(PREVENT_ARMING); // To prevent accidently rearming by an intermittent rx link
mwDisarm();
mwDisarm(DISARM_FAILSAFE);
failsafeState.receivingRxDataPeriod = millis() + failsafeState.receivingRxDataPeriodPreset; // set required period of valid rxData
failsafeState.phase = FAILSAFE_RX_LOSS_MONITORING;
failsafeState.controlling = false; // Failsafe no longer in control of the machine - release control to pilot

3
src/main/navigation/navigation.c
View file

@ -34,6 +34,7 @@
#include "drivers/time.h"
#include "fc/fc_core.h"
#include "fc/config.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
@ -1015,7 +1016,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHING(navigatio
UNUSED(previousState);
if (navConfig()->general.flags.disarm_on_landing) {
mwDisarm();
mwDisarm(DISARM_NAVIGATION);
}
return NAV_FSM_EVENT_SUCCESS;

3
src/main/telemetry/ltm.c
View file

@ -50,6 +50,7 @@
#include "io/serial.h"
#include "fc/config.h"
#include "fc/fc_core.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
@ -259,7 +260,7 @@ void ltm_xframe(sbuf_t *dst)
#endif
ltm_serialise_8(dst, sensorStatus);
ltm_serialise_8(dst, ltm_x_counter);
ltm_serialise_8(dst, 0);
ltm_serialise_8(dst, getDisarmReason());
ltm_serialise_8(dst, 0);
ltm_x_counter++; // overflow is OK
}