- 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.
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
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.
This also ensures that the PWM mapping does not use the sonar pins when
sonar is enabled in a board agnostic way.
Conflicts:
src/main/config/config.c
src/main/drivers/pwm_mapping.h
src/main/main.c
src/main/target/CC3D/target.h
Maximum value of 500 is now removing the limit (same as for
yaw_jump_prevention_limit)
Moving defines for PID controllers to headerfiles.
Some general code cleanup.
Documentation update
Larry Davis
borisbstyle
Dominic Clifton
ProDrone
Larry (TBS)
sppnk
nathan
Moto Moto
Juan González
Nicholas Sherlock
joshuabardwell
stuphi
Chris Mavrakis
NL-Splinter
Axel
Alexander Fedorov
Thomas
digitalentity
Scott Shawcroft
Paul Rogalinski
Michael Jakob