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Adding CLI min for failsafe_delay (value of '2' - 0.2s)

This commit is contained in:
Ivan Efimov 2022-04-06 18:34:29 -05:00
parent 2fd2e8eca5
commit 7c9f938fa6
3 changed files with 7 additions and 3 deletions
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2
src/main/cli/settings.c
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@ -869,7 +869,7 @@ const clivalue_t valueTable[] = {
{ "thr_corr_angle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 900 }, PG_THROTTLE_CORRECTION_CONFIG, offsetof(throttleCorrectionConfig_t, throttle_correction_angle) },
// PG_FAILSAFE_CONFIG
{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_delay) },
{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { PERIOD_RXDATA_RECOVERY / MILLIS_PER_TENTH_SECOND, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_delay) },
{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_off_delay) },
{ "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_throttle) },
{ "failsafe_switch_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FAILSAFE_SWITCH_MODE }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_switch_mode) },

2
src/main/cms/cms_menu_failsafe.c
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@ -78,7 +78,7 @@ static const OSD_Entry cmsx_menuFailsafeEntries[] =
{ "-- FAILSAFE --", OME_Label, NULL, NULL},
{ "PROCEDURE", OME_TAB | REBOOT_REQUIRED, NULL, &(OSD_TAB_t) { &failsafeConfig_failsafe_procedure, FAILSAFE_PROCEDURE_COUNT - 1, failsafeProcedureNames } },
{ "GUARD TIME", OME_FLOAT | REBOOT_REQUIRED, NULL, &(OSD_FLOAT_t) { &failsafeConfig_failsafe_delay, 0, 200, 1, 100 } },
{ "GUARD TIME", OME_FLOAT | REBOOT_REQUIRED, NULL, &(OSD_FLOAT_t) { &failsafeConfig_failsafe_delay, PERIOD_RXDATA_RECOVERY / MILLIS_PER_TENTH_SECOND, 200, 1, 100 } },
{ "STAGE 2 DELAY", OME_FLOAT | REBOOT_REQUIRED, NULL, &(OSD_FLOAT_t) { &failsafeConfig_failsafe_off_delay, 0, 200, 1, 100 } },
{ "STAGE 2 THROTTLE", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t) { &failsafeConfig_failsafe_throttle, PWM_PULSE_MIN, PWM_PULSE_MAX, 1 } },
#ifdef USE_CMS_GPS_RESCUE_MENU

4
src/main/flight/failsafe.c
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@ -87,6 +87,10 @@ const char * const failsafeProcedureNames[FAILSAFE_PROCEDURE_COUNT] = {
void failsafeReset(void)
{
failsafeState.rxDataFailurePeriod = failsafeConfig()->failsafe_delay * MILLIS_PER_TENTH_SECOND; // time to start stage2
if (failsafeState.rxDataFailurePeriod < PERIOD_RXDATA_RECOVERY) {
// PERIOD_RXDATA_RECOVERY (200ms) - avoid transients and ensure reliable arming
failsafeState.rxDataFailurePeriod = PERIOD_RXDATA_RECOVERY;
}
failsafeState.rxDataRecoveryPeriod = failsafeConfig()->failsafe_recovery_delay * MILLIS_PER_TENTH_SECOND;
if (failsafeState.rxDataRecoveryPeriod < PERIOD_RXDATA_RECOVERY) {
// PERIOD_RXDATA_RECOVERY (200ms) is the minimum allowed RxData recovery time