- Added failsafe flightmode and rc control box.
To make failsafe procedure a separate flight mode and make it possible
to trigger failsafe with an AUX switch.
- Failsafe mode is activated when failsafe is active.
RC link lost is simulated with the failsafe AUX switch.
When NOT armed: failsafe switch to failsafe mode is shown in GUI (mode
tab).
- Activate failsafe mode with AUX switch.
- Prevent arming when failsafe via AUX switch is active (safety issue).
- Make failsafe disarm if motors armed and throttle was LOW (2D & 3D)
for `failsafe_throttle_low_delay` time (__JustDisarmEvent__).
Applied code changes to effectively add pull request: Make failsafe
disarm if motors armed and throttle low #717.
- Use failsafeIsMonitoring() to actually start monitoring.
- Added `failsafe_kill_switch` to code.
When set to 1 (0 is default), the failsafe switch will instantly disarm
(__KillswitchEvent__) instead of executing the landings procedure.
Arming is NOT locked after
this, so the craft could be re-armed if needed.
This is intended for racing quads where damage and danger must be
minimized in case of a pilot error.
- Added `failsafe_throttle_low_delay`, adapted documentation.
Used to adjust the time throttle level must have been LOW
to _only disarm_ instead of _full failsafe procedure_
(__JustDisarmEvent__).
- Updated the failsafe documentation.
- Re-enable arming at end of failsafe procedure.
At the end of a handled failsafe event, that means: auto-landing,
__JustDisarmEvent__ or __KillswitchEvent__, the RX link is monitored for
valid data.
Monitoring is a part of the failsafe handling, which means the craft is
still in failsafe mode while this is done.
Arming is re-enabled (allowed) when there is a valid RX link for more
then XX seconds, where XX depends on the handled event like this:
1. XX = 30 seconds after auto landing.
2. XX = 3 seconds after __JustDisarmEvent__.
3. XX = 0 seconds after __KillswitchEvent__.
NOTE: When armed via an AUX switch, you will have to switch to the
disarmed position at the very end to be able to re-arm.
The failsafe mode will not end until you do.
- __KillswitchEvent__ has now priority over __JustDisarmEvent__
- Apply rxfail values instantly when failsafe switch is ON
- Added missing cases to display.c
Show M when failsafe is monitoring for RX recovery (AND disarming when
armed with a switch).
===
Reworked the code from counter-based to time-based.
- AUX failsafe switch now has identical behavior to RX loss.
- Added RX failure and RX recovery timing.
- __KillswitchEvent__ skips RX failure detection delay (direct disarm).
===
[UNIT TESTS]
Adapted failsafe related unittests from counter-based to time-based
- Added failsafeOnValidDataFailed() to some tests
- Removed duplicate test setup from rc_controls_unittest.cc
- Removed magic numbers from rx_ranges_unittest.cc and rx_rx_unittest.cc
- Reworked all test-cases for flight_failsafe_unittest.cc
Stick channels only have AUTO and HOLD mode.
AUX channels only have SET and HOLD mode.
Added check to parameter in CLI.
Modified rx.md to reflect changes (and more).
+1 squashed commit:
- A cleaner approach for the same functionality
Basically addressing all comments from Hydra
Note: since it didn't actually calibrate anything it has been renamed to
rxrange.
Added ability to reset rxranges using `rxrange reset` - this follows the
same pattern as other cli commands.
On bad (out-of-range) pulses; ROLL, PITCH, YAW will go to `mid_rc` and
THROTTLE will go to `rx_min_usec` (to `mid_rc` for 3D mode). So these
channels will no longer be set by the user directly.
Fallback values for the aux switches (0 .. max) can be set with this
version. Since these switches may trigger all kind of things, the user
needs control over them in case of a RX failsafe event.
A single flight control channel failure (first 4) when using parallel
PWM is interpreted as a failure for all flight control channels (first
4), since the craft may be uncontrollable when one channel is down. (+4
squashed commit)
Squashed commit:
[dbfea9e] Apply fallback values also when serial_rx init failed and/or
RX
disconnected and/or no signal received.
[b5a2ecd] Added get/set MSP commands for RXFAIL config
Bumped API minor version up.
[c0e31ce] minor change for coding standard
[322705f] Added programmable RX channel defaults on rx lost Update #2
disarmed.
Ensure that servo mixes that use calculated throttle output (motor 0)
adhere to the armed/disarmed state, this is achieved by ensuring that
motor outputs, including the effects of MOTOR_STOP are calculated BEFORE
using motor 0 as an input source for the servo mixer.
Use shorter command names (mmix and smix) instead of longer ones
(motormix) and (mmix).
Decrease verbosity of dump command by only outputting commands to
reverse servos for servos that are reversed.
* optimize for code size.
* consolidate error message handling.
* replace similar error messages with identical ones.
* shorten all strings where possible.
* made less verbose.
This was required for the CC3D OPBL build.
Main rule logic and MSP commands ported from baseflight.
Gimbal mixer updated to use rules. This allows us to remove more
conditional logic. Operation of gimbal servos is now different.
pterm_cut_hz added
Let's play with this as well to get more noise filtered
Code Cleanup
Make filter more flexible for reuse
rewrite correction pterm
Define static delta in filter
Fix array count
ident
return function for filter
Filter Function enhanced
Full software filtering (DTerm, PTerm, Gyro, Acc)
Normalize Variables
Revert Back gyro settings
Bugfix gyro/acc filter // (MPU60xx equalize lpf settings)
Moved filtering to mw.c
This has been done to prevent reusing old cycletime for filter function.
acc_cut_hz removed (not needed)
Harakiri zero fix
Newlib's strtok() allocates memory and causes malloc() to be linked
in. Use the reentrant version instead.
Saves 336 bytes.
Signed-off-by: Michael Hope <mlhx@google.com>
This is done to make it clearer in configuration dumps which ports are
enabled and configured.
There is a nice code size reduction due to less strings being needed.
Serial documentation updated.
Closes#966.
...and apply them after a soft reset (which also required an additional
write to flash), it is now such that features and settings are modified
and stored in flash as before.
After initialisation completes, the active features are latched and are
not to be modified until the next startup. This guarantees that all
saved modifications are persistent even when power is switched of
(without a reset in between).
When a soft reset is required, the active features and the currently
configured features are used to detect if the oneshot feature has
changed state, in which case motor PWM outputs are stopped and soft
reset is done after a 1.5 second delay.
During normal operation the active features will not change and all
changes to features ordered via MSP commands or the CLI are applied to
the configuration that gets saved to flash.
The required effect of modifying features without changing the actions
in the running mainloop is achieved. The user needs to be aware that
changes to features are not applied immidiatly.
