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https://github.com/iNavFlight/inav.git
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032202ef8f
systems and Parallel PWM/PPM systems. Added setting for failsafe_max_usec. Renamed failsafe_detect_threshold to failsafe_min_usec. Failsafe now detects when a PPM/PWM RX isn't sending ANY data out on CH1-4. See documentation notes regarding Graupner receivers in Failsafe.md. Documented failsafe system.
31 lines
1.1 KiB
C
31 lines
1.1 KiB
C
#pragma once
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typedef struct failsafeConfig_s {
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uint8_t failsafe_delay; // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
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uint8_t failsafe_off_delay; // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example (200)
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uint16_t failsafe_throttle; // Throttle level used for landing - specify value between 1000..2000 (pwm pulse width for slightly below hover). center throttle = 1500.
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uint16_t failsafe_min_usec;
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uint16_t failsafe_max_usec;
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} failsafeConfig_t;
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typedef struct failsafeVTable_s {
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void (*reset)(void);
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bool (*shouldForceLanding)(bool armed);
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bool (*hasTimerElapsed)(void);
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bool (*shouldHaveCausedLandingByNow)(void);
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void (*incrementCounter)(void);
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void (*updateState)(void);
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bool (*isIdle)(void);
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void (*checkPulse)(uint8_t channel, uint16_t pulseDuration);
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} failsafeVTable_t;
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typedef struct failsafe_s {
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const failsafeVTable_t *vTable;
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int16_t counter;
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int16_t events;
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} failsafe_t;
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void useFailsafeConfig(failsafeConfig_t *failsafeConfigToUse);
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