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Merge pull request #9769 from iNavFlight/MrD_Show-OSD-message-for-inflight-rearm-possible

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Show a timeout for in flight rearming
This commit is contained in:
Paweł Spychalski 2024-03-09 15:48:01 +01:00 • committed by GitHub
commit f025ee570c
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3 changed files with 47 additions and 16 deletions
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16
src/main/fc/fc_core.c
View file

@ -507,6 +507,18 @@ bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm)
return counter >= EMERGENCY_ARMING_MIN_ARM_COUNT;
}
uint16_t emergencyInFlightRearmTimeMS(void)
{
uint16_t rearmMS = 0;
if (STATE(IN_FLIGHT_EMERG_REARM)) {
timeMs_t currentTimeMs = millis();
rearmMS = (uint16_t)((US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS) - currentTimeMs);
}
return rearmMS;
}
bool emergInflightRearmEnabled(void)
{
/* Emergency rearm allowed within 5s timeout period after disarm if craft still flying */
@ -880,7 +892,6 @@ static void applyThrottleTiltCompensation(void)
void taskMainPidLoop(timeUs_t currentTimeUs)
{
cycleTime = getTaskDeltaTime(TASK_SELF);
dT = (float)cycleTime * 0.000001f;
@ -899,7 +910,8 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
}
}
if (armTime > 1 * USECS_PER_SEC) { // reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
if (armTime > 1 * USECS_PER_SEC) {
// reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
}

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

@ -42,7 +42,9 @@ timeUs_t getLastDisarmTimeUs(void);
void tryArm(void);
disarmReason_t getDisarmReason(void);
uint16_t emergencyInFlightRearmTimeMS(void);
bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm);
bool emergInflightRearmEnabled(void);
bool areSensorsCalibrating(void);
float getFlightTime(void);

45
src/main/io/osd.c
View file

@ -28,6 +28,7 @@
#include <string.h>
#include <ctype.h>
#include <math.h>
#include <inttypes.h>
#include "platform.h"
@ -4560,8 +4561,16 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff);
}
uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;
if (savingSettings == true) {
displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS));
} else if (rearmMs > 0) { // Show rearming time if settings not actively being saved. Ignore the settings saved message if rearm available.
char emReArmMsg[23];
tfp_sprintf(emReArmMsg, "** REARM PERIOD: ");
tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs));
strcat(emReArmMsg, " **\0");
displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(emReArmMsg));
} else if (notify_settings_saved > 0) {
if (millis() > notify_settings_saved) {
notify_settings_saved = 0;
@ -4861,9 +4870,10 @@ static void osdRefresh(timeUs_t currentTimeUs)
}
bool statsSinglePageCompatible = (osdDisplayPort->rows >= OSD_STATS_SINGLE_PAGE_MIN_ROWS);
static uint8_t statsCurrentPage = 0;
static bool statsDisplayed = false;
static bool statsAutoPagingEnabled = true;
static uint8_t statsCurrentPage = 0;
static timeMs_t statsRefreshTime = 0;
static bool statsDisplayed = false;
static bool statsAutoPagingEnabled = true;
// Detect arm/disarm
if (armState != ARMING_FLAG(ARMED)) {
@ -4931,25 +4941,24 @@ static void osdRefresh(timeUs_t currentTimeUs)
// Alternate screens for multi-page stats.
// Also, refreshes screen at swap interval for single-page stats.
if (OSD_ALTERNATING_CHOICES((osdConfig()->stats_page_auto_swap_time * 1000), 2)) {
if (statsCurrentPage == 0) {
osdShowStats(statsSinglePageCompatible, statsCurrentPage);
if (statsCurrentPage == 0)
statsCurrentPage = 1;
}
} else {
if (statsCurrentPage == 1) {
osdShowStats(statsSinglePageCompatible, statsCurrentPage);
if (statsCurrentPage == 1)
statsCurrentPage = 0;
}
}
} else {
// Process manual page change events for multi-page stats.
if (manualPageUpRequested) {
osdShowStats(statsSinglePageCompatible, 1);
if (manualPageUpRequested)
statsCurrentPage = 1;
} else if (manualPageDownRequested) {
osdShowStats(statsSinglePageCompatible, 0);
else if (manualPageDownRequested)
statsCurrentPage = 0;
}
}
// Only refresh the stats every 1/4 of a second.
if (statsRefreshTime <= millis()) {
statsRefreshTime = millis() + 250;
osdShowStats(statsSinglePageCompatible, statsCurrentPage);
}
}
@ -5306,9 +5315,16 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
}
/* Messages that are shown regardless of Arming state */
uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;
if (savingSettings == true) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS);
} else if (rearmMs > 0) { // Show rearming time if settings not actively being saved. Ignore the settings saved message if rearm available.
char emReArmMsg[23];
tfp_sprintf(emReArmMsg, "** REARM PERIOD: ");
tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs));
strcat(emReArmMsg, " **\0");
messages[messageCount++] = OSD_MESSAGE_STR(emReArmMsg);
} else if (notify_settings_saved > 0) {
if (millis() > notify_settings_saved) {
notify_settings_saved = 0;
@ -5317,6 +5333,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
}
}
if (messageCount > 0) {
message = messages[OSD_ALTERNATING_CHOICES(systemMessageCycleTime(messageCount, messages), messageCount)];
if (message == failsafeInfoMessage) {