fix FrSky failsafe packet false channel values
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@ -107,8 +107,8 @@ static timeUs_t needRxSignalBefore = 0;
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static timeUs_t suspendRxSignalUntil = 0;
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static uint8_t skipRxSamples = 0;
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static float rcRaw[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
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float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
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static float rcRaw[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // last received raw value, as it comes
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float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // scaled, modified, checked and constrained values
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uint32_t validRxSignalTimeout[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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#define MAX_INVALID_PULSE_TIME_MS 300 // hold time in milliseconds after bad channel or Rx link loss
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@ -507,7 +507,7 @@ FAST_CODE_NOINLINE void rxFrameCheck(timeUs_t currentTimeUs, timeDelta_t current
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{
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const uint8_t frameStatus = rxRuntimeState.rcFrameStatusFn(&rxRuntimeState);
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DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 1, (frameStatus & RX_FRAME_FAILSAFE));
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signalReceived = (frameStatus & RX_FRAME_COMPLETE) && !((frameStatus & RX_FRAME_FAILSAFE) || (frameStatus & RX_FRAME_DROPPED));
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signalReceived = (frameStatus & RX_FRAME_COMPLETE) && !(frameStatus & (RX_FRAME_FAILSAFE | RX_FRAME_DROPPED));
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setLinkQuality(signalReceived, currentDeltaTimeUs);
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auxiliaryProcessingRequired |= (frameStatus & RX_FRAME_PROCESSING_REQUIRED);
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}
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@ -519,21 +519,22 @@ FAST_CODE_NOINLINE void rxFrameCheck(timeUs_t currentTimeUs, timeDelta_t current
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// true only when a new packet arrives
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needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
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rxSignalReceived = true; // immediately process packet data
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if (useDataDrivenProcessing) {
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rxDataProcessingRequired = true;
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// process the new Rx packet when it arrives
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}
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} else {
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// watch for next packet
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if (cmpTimeUs(currentTimeUs, needRxSignalBefore) > 0) {
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// initial time to signalReceived failure is 100ms, then we check every 100ms
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rxSignalReceived = false;
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needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
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// review rcData values every 100ms in failsafe changed them
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// review and process rcData values every 100ms in case failsafe changed them
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rxDataProcessingRequired = true;
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}
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}
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DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 0, rxSignalReceived);
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// process the new Rx packet when it arrives
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rxDataProcessingRequired |= (signalReceived && useDataDrivenProcessing);
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}
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#if defined(USE_PWM) || defined(USE_PPM)
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@ -602,8 +603,7 @@ STATIC_UNIT_TESTED float applyRxChannelRangeConfiguraton(float sample, const rxC
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}
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sample = scaleRangef(sample, range->min, range->max, PWM_RANGE_MIN, PWM_RANGE_MAX);
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sample = constrainf(sample, PWM_PULSE_MIN, PWM_PULSE_MAX);
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// out of range channel values are now constrained after the validity check in detectAndApplySignalLossBehaviour()
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return sample;
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}
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@ -645,7 +645,7 @@ void detectAndApplySignalLossBehaviour(void)
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for (int channel = 0; channel < rxChannelCount; channel++) {
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float sample = rcRaw[channel];
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const bool thisChannelValid = rxFlightChannelsValid && isPulseValid(sample);
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// if the packet is bad, we don't allow any channels to be good
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// if the whole packet is bad, consider all channels bad
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if (thisChannelValid) {
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// reset the invalid pulse period timer for every good channel
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@ -653,9 +653,10 @@ void detectAndApplySignalLossBehaviour(void)
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}
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if (ARMING_FLAG(ARMED) && failsafeIsActive()) {
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// apply failsafe values, until failsafe ends, or disarmed, unless in GPS Return (where stick values should remain)
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// while in failsafe Stage 2, pass incoming flight channel values unless they are bad
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// this allows GPS Return to detect the 30% requirement for termination
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if (channel < NON_AUX_CHANNEL_COUNT) {
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if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
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if (!thisChannelValid) {
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if (channel == THROTTLE ) {
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sample = failsafeConfig()->failsafe_throttle;
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} else {
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@ -663,7 +664,7 @@ void detectAndApplySignalLossBehaviour(void)
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}
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}
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} else if (!failsafeAuxSwitch) {
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// aux channels as Set in Configurator, unless failsafe initiated by switch
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// set aux channels as per Stage 1 Configurator values, unless failsafe was initiated by switch
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sample = getRxfailValue(channel);
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}
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} else {
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@ -674,7 +675,8 @@ void detectAndApplySignalLossBehaviour(void)
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}
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} else if (!thisChannelValid) {
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if (cmp32(currentTimeMs, validRxSignalTimeout[channel]) < 0) {
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// HOLD bad channel/s for MAX_INVALID_PULSE_TIME_MS (300ms) after Rx loss
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sample = rcData[channel];
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// HOLD last valid value on bad channel/s for MAX_INVALID_PULSE_TIME_MS (300ms)
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} else {
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// then use STAGE 1 failsafe values
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if (channel < NON_AUX_CHANNEL_COUNT) {
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@ -687,6 +689,8 @@ void detectAndApplySignalLossBehaviour(void)
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}
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}
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sample = constrainf(sample, PWM_PULSE_MIN, PWM_PULSE_MAX);
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#if defined(USE_PWM) || defined(USE_PPM)
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if (rxRuntimeState.rxProvider == RX_PROVIDER_PARALLEL_PWM || rxRuntimeState.rxProvider == RX_PROVIDER_PPM) {
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// smooth output for PWM and PPM using moving average
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@ -695,8 +699,9 @@ void detectAndApplySignalLossBehaviour(void)
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#endif
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{
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// set rcData to either clean raw incoming values, or failsafe-modified values
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// set rcData to either validated incoming values, or failsafe-modified values
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rcData[channel] = sample;
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}
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}
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