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Merge pull request #7395 from TonyBlit/gps_rescue_disabled_warning 

GPS Rescue disabled warning
This commit is contained in:
Michael Keller 2019-01-16 23:53:29 +13:00 committed by GitHub
parent eec46d4f83 ec71965dd8
commit b0e06d2e26
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 62 additions and 28 deletions
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8
src/main/fc/core.c
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@ -460,8 +460,12 @@ void tryArm(void)
GPS_reset_home_position();
//beep to indicate arming
if (featureIsEnabled(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5) {
beeper(BEEPER_ARMING_GPS_FIX);
if (featureIsEnabled(FEATURE_GPS)) {
if (STATE(GPS_FIX) && gpsSol.numSat >= 5) {
beeper(BEEPER_ARMING_GPS_FIX);
} else {
beeper(BEEPER_ARMING_GPS_NO_FIX);
}
} else {
beeper(BEEPER_ARMING);
}

5
src/main/flight/gps_rescue.c
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@ -618,6 +618,11 @@ bool gpsRescueIsAvailable(void)
return rescueState.isAvailable;
}
bool gpsRescueIsDisabled(void)
{
return (!STATE(GPS_FIX_HOME));
}
bool gpsRescueDisableMag(void)
{
return ((!gpsRescueConfig()->useMag || magForceDisable) && (rescueState.phase >= RESCUE_INITIALIZE) && (rescueState.phase <= RESCUE_LANDING));

1
src/main/flight/gps_rescue.h
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@ -48,4 +48,5 @@ float gpsRescueGetYawRate(void);
float gpsRescueGetThrottle(void);
bool gpsRescueIsConfigured(void);
bool gpsRescueIsAvailable(void);
bool gpsRescueIsDisabled(void);
bool gpsRescueDisableMag(void);

1
src/main/interface/settings.c
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@ -1043,6 +1043,7 @@ const clivalue_t valueTable[] = {
{ "osd_warn_crash_flip", VAR_UINT16 | MASTER_VALUE | MODE_BITSET, .config.bitpos = OSD_WARNING_CRASH_FLIP, PG_OSD_CONFIG, offsetof(osdConfig_t, enabledWarnings)},
{ "osd_warn_esc_fail", VAR_UINT16 | MASTER_VALUE | MODE_BITSET, .config.bitpos = OSD_WARNING_ESC_FAIL, PG_OSD_CONFIG, offsetof(osdConfig_t, enabledWarnings)},
{ "osd_warn_no_gps_rescue", VAR_UINT16 | MASTER_VALUE | MODE_BITSET, .config.bitpos = OSD_WARNING_GPS_RESCUE_UNAVAILABLE, PG_OSD_CONFIG, offsetof(osdConfig_t, enabledWarnings)},
{ "osd_warn_gps_rescue_disabled", VAR_UINT16 | MASTER_VALUE | MODE_BITSET, .config.bitpos = OSD_WARNING_GPS_RESCUE_DISABLED, PG_OSD_CONFIG, offsetof(osdConfig_t, enabledWarnings)},
#ifdef USE_ADC_INTERNAL
{ "osd_warn_core_temp", VAR_UINT16 | MASTER_VALUE | MODE_BITSET, .config.bitpos = OSD_WARNING_CORE_TEMPERATURE, PG_OSD_CONFIG, offsetof(osdConfig_t, enabledWarnings)},
#endif

56
src/main/io/beeper.c
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@ -100,6 +100,14 @@ static const uint8_t beep_shortBeep[] = {
static const uint8_t beep_armingBeep[] = {
30, 5, 5, 5, BEEPER_COMMAND_STOP
};
// Arming when GPS is fixed
static const uint8_t beep_armingGpsFix[] = {
5, 5, 15, 5, 5, 5, 15, 30, BEEPER_COMMAND_STOP
};
// Arming when GPS is not fixed
static const uint8_t beep_armingGpsNoFix[] = {
30, 5, 30, 5, 30, 5, BEEPER_COMMAND_STOP
};
// armed beep (first pause, then short beep)
static const uint8_t beep_armedBeep[] = {
0, 245, 10, 5, BEEPER_COMMAND_STOP
@ -129,10 +137,6 @@ static const uint8_t beep_txLostBeep[] = {
static const uint8_t beep_sos[] = {
10, 10, 10, 10, 10, 40, 40, 10, 40, 10, 40, 40, 10, 10, 10, 10, 10, 70, BEEPER_COMMAND_STOP
};
// Arming when GPS is fixed
static const uint8_t beep_armedGpsFix[] = {
5, 5, 15, 5, 5, 5, 15, 30, BEEPER_COMMAND_STOP
};
// Ready beeps. When gps has fix and copter is ready to fly.
static const uint8_t beep_readyBeep[] = {
4, 5, 4, 5, 8, 5, 15, 5, 8, 5, 4, 5, 4, 5, BEEPER_COMMAND_STOP
@ -203,31 +207,33 @@ typedef struct beeperTableEntry_s {
#define BEEPER_ENTRY(a,b,c,d) a,b,c
#endif
// IMPORTANT: these are in priority order, 0 = Highest
static const beeperTableEntry_t beeperTable[] = {
{ BEEPER_ENTRY(BEEPER_GYRO_CALIBRATED, 0, beep_gyroCalibrated, "GYRO_CALIBRATED") },
{ BEEPER_ENTRY(BEEPER_RX_LOST, 1, beep_txLostBeep, "RX_LOST") },
{ BEEPER_ENTRY(BEEPER_RX_LOST_LANDING, 2, beep_sos, "RX_LOST_LANDING") },
{ BEEPER_ENTRY(BEEPER_DISARMING, 3, beep_disarmBeep, "DISARMING") },
{ BEEPER_ENTRY(BEEPER_ARMING, 4, beep_armingBeep, "ARMING") },
{ BEEPER_ENTRY(BEEPER_ARMING_GPS_FIX, 5, beep_armedGpsFix, "ARMING_GPS_FIX") },
{ BEEPER_ENTRY(BEEPER_BAT_CRIT_LOW, 6, beep_critBatteryBeep, "BAT_CRIT_LOW") },
{ BEEPER_ENTRY(BEEPER_BAT_LOW, 7, beep_lowBatteryBeep, "BAT_LOW") },
{ BEEPER_ENTRY(BEEPER_GPS_STATUS, 8, beep_multiBeeps, "GPS_STATUS") },
{ BEEPER_ENTRY(BEEPER_RX_SET, 9, beep_shortBeep, "RX_SET") },
{ BEEPER_ENTRY(BEEPER_ACC_CALIBRATION, 10, beep_2shortBeeps, "ACC_CALIBRATION") },
{ BEEPER_ENTRY(BEEPER_ACC_CALIBRATION_FAIL, 11, beep_2longerBeeps, "ACC_CALIBRATION_FAIL") },
{ BEEPER_ENTRY(BEEPER_READY_BEEP, 12, beep_readyBeep, "READY_BEEP") },
{ BEEPER_ENTRY(BEEPER_MULTI_BEEPS, 13, beep_multiBeeps, "MULTI_BEEPS") }, // FIXME having this listed makes no sense since the beep array will not be initialised.
{ BEEPER_ENTRY(BEEPER_DISARM_REPEAT, 14, beep_disarmRepeatBeep, "DISARM_REPEAT") },
{ BEEPER_ENTRY(BEEPER_ARMED, 15, beep_armedBeep, "ARMED") },
{ BEEPER_ENTRY(BEEPER_SYSTEM_INIT, 16, NULL, "SYSTEM_INIT") },
{ BEEPER_ENTRY(BEEPER_USB, 17, NULL, "ON_USB") },
{ BEEPER_ENTRY(BEEPER_BLACKBOX_ERASE, 18, beep_2shortBeeps, "BLACKBOX_ERASE") },
{ BEEPER_ENTRY(BEEPER_CRASH_FLIP_MODE, 19, beep_2longerBeeps, "CRASH_FLIP") },
{ BEEPER_ENTRY(BEEPER_CAM_CONNECTION_OPEN, 20, beep_camOpenBeep, "CAM_CONNECTION_OPEN") },
{ BEEPER_ENTRY(BEEPER_CAM_CONNECTION_CLOSE, 21, beep_camCloseBeep, "CAM_CONNECTION_CLOSE") },
{ BEEPER_ENTRY(BEEPER_RC_SMOOTHING_INIT_FAIL,22, beep_rcSmoothingInitFail, "RC_SMOOTHING_INIT_FAIL") },
{ BEEPER_ENTRY(BEEPER_ALL, 23, NULL, "ALL") },
{ BEEPER_ENTRY(BEEPER_ARMING_GPS_FIX, 5, beep_armingGpsFix, "ARMING_GPS_FIX") },
{ BEEPER_ENTRY(BEEPER_ARMING_GPS_NO_FIX, 6, beep_armingGpsNoFix, "ARMING_GPS_NO_FIX") },
{ BEEPER_ENTRY(BEEPER_BAT_CRIT_LOW, 7, beep_critBatteryBeep, "BAT_CRIT_LOW") },
{ BEEPER_ENTRY(BEEPER_BAT_LOW, 8, beep_lowBatteryBeep, "BAT_LOW") },
{ BEEPER_ENTRY(BEEPER_GPS_STATUS, 9, beep_multiBeeps, "GPS_STATUS") },
{ BEEPER_ENTRY(BEEPER_RX_SET, 10, beep_shortBeep, "RX_SET") },
{ BEEPER_ENTRY(BEEPER_ACC_CALIBRATION, 11, beep_2shortBeeps, "ACC_CALIBRATION") },
{ BEEPER_ENTRY(BEEPER_ACC_CALIBRATION_FAIL, 12, beep_2longerBeeps, "ACC_CALIBRATION_FAIL") },
{ BEEPER_ENTRY(BEEPER_READY_BEEP, 13, beep_readyBeep, "READY_BEEP") },
{ BEEPER_ENTRY(BEEPER_MULTI_BEEPS, 14, beep_multiBeeps, "MULTI_BEEPS") }, // FIXME having this listed makes no sense since the beep array will not be initialised.
{ BEEPER_ENTRY(BEEPER_DISARM_REPEAT, 15, beep_disarmRepeatBeep, "DISARM_REPEAT") },
{ BEEPER_ENTRY(BEEPER_ARMED, 16, beep_armedBeep, "ARMED") },
{ BEEPER_ENTRY(BEEPER_SYSTEM_INIT, 17, NULL, "SYSTEM_INIT") },
{ BEEPER_ENTRY(BEEPER_USB, 18, NULL, "ON_USB") },
{ BEEPER_ENTRY(BEEPER_BLACKBOX_ERASE, 19, beep_2shortBeeps, "BLACKBOX_ERASE") },
{ BEEPER_ENTRY(BEEPER_CRASH_FLIP_MODE, 20, beep_2longerBeeps, "CRASH_FLIP") },
{ BEEPER_ENTRY(BEEPER_CAM_CONNECTION_OPEN, 21, beep_camOpenBeep, "CAM_CONNECTION_OPEN") },
{ BEEPER_ENTRY(BEEPER_CAM_CONNECTION_CLOSE, 22, beep_camCloseBeep, "CAM_CONNECTION_CLOSE") },
{ BEEPER_ENTRY(BEEPER_RC_SMOOTHING_INIT_FAIL,23, beep_rcSmoothingInitFail, "RC_SMOOTHING_INIT_FAIL") },
{ BEEPER_ENTRY(BEEPER_ALL, 24, NULL, "ALL") },
};
static const beeperTableEntry_t *currentBeeperEntry = NULL;
@ -420,8 +426,8 @@ void beeperUpdate(timeUs_t currentTimeUs)
// if this was arming beep then mark time (for blackbox)
if (
beeperPos == 0
&& (currentBeeperEntry->mode == BEEPER_ARMING || currentBeeperEntry->mode == BEEPER_ARMING_GPS_FIX)
) {
&& (currentBeeperEntry->mode == BEEPER_ARMING || currentBeeperEntry->mode == BEEPER_ARMING_GPS_FIX
|| currentBeeperEntry->mode == BEEPER_ARMING_GPS_NO_FIX)) {
armingBeepTimeMicros = micros();
}
}

4
src/main/io/beeper.h
View File

@ -30,7 +30,7 @@
#endif
typedef enum {
// IMPORTANT: these are in priority order, 0 = Highest
// IMPORTANT: the order of the elements should be preserved for backwards compatibility with the configurator.
BEEPER_SILENCE = 0, // Silence, see beeperSilence()
BEEPER_GYRO_CALIBRATED,
@ -56,6 +56,7 @@ typedef enum {
BEEPER_CAM_CONNECTION_OPEN, // When the 5 key simulation stated
BEEPER_CAM_CONNECTION_CLOSE, // When the 5 key simulation stop
BEEPER_RC_SMOOTHING_INIT_FAIL, // Warning beep pattern when armed and rc smoothing has not initialized filters
BEEPER_ARMING_GPS_NO_FIX, // Beep a special tone when arming the board and GPS has no fix
BEEPER_ALL, // Turn ON or OFF all beeper conditions
// BEEPER_ALL must remain at the bottom of this enum
} beeperMode_e;
@ -85,6 +86,7 @@ typedef enum {
| BEEPER_GET_FLAG(BEEPER_CAM_CONNECTION_OPEN) \
| BEEPER_GET_FLAG(BEEPER_CAM_CONNECTION_CLOSE) \
| BEEPER_GET_FLAG(BEEPER_RC_SMOOTHING_INIT_FAIL) \
| BEEPER_GET_FLAG(BEEPER_ARMING_GPS_NO_FIX) \
)
#define DSHOT_BEACON_ALLOWED_MODES ( \

12
src/main/io/osd.c
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@ -1015,11 +1015,23 @@ static bool osdDrawSingleElement(uint8_t item)
if (osdWarnGetState(OSD_WARNING_GPS_RESCUE_UNAVAILABLE) &&
ARMING_FLAG(ARMED) &&
gpsRescueIsConfigured() &&
!gpsRescueIsDisabled() &&
!gpsRescueIsAvailable()) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "NO GPS RESC");
SET_BLINK(OSD_WARNINGS);
break;
}
if (osdWarnGetState(OSD_WARNING_GPS_RESCUE_DISABLED) &&
ARMING_FLAG(ARMED) &&
gpsRescueIsConfigured() &&
gpsRescueIsDisabled() &&
!cmpTimeUs(stats.armed_time, OSD_GPS_RESCUE_DISABLED_WARNING_DURATION_US)) {
osdFormatMessage(buff, OSD_FORMAT_MESSAGE_BUFFER_SIZE, "RESC OFF!!!");
SET_BLINK(OSD_WARNINGS);
break;
}
#endif
// Show warning if in HEADFREE flight mode

3
src/main/io/osd.h
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@ -201,6 +201,7 @@ typedef enum {
OSD_WARNING_FAIL_SAFE,
OSD_WARNING_LAUNCH_CONTROL,
OSD_WARNING_GPS_RESCUE_UNAVAILABLE,
OSD_WARNING_GPS_RESCUE_DISABLED,
OSD_WARNING_COUNT // MUST BE LAST
} osdWarningsFlags_e;
@ -211,6 +212,8 @@ STATIC_ASSERT(OSD_WARNING_COUNT <= 16, osdwarnings_overflow);
#define ESC_TEMP_ALARM_OFF INT8_MIN
#define ESC_CURRENT_ALARM_OFF -1
#define OSD_GPS_RESCUE_DISABLED_WARNING_DURATION_US 3000000 // 3 seconds
typedef struct osdConfig_s {
uint16_t item_pos[OSD_ITEM_COUNT];