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Stop sending pulses altogether on failsafe

This makes failsafe much easier to configure on the flight controller.
The previous behavior of setting all the channels to 1000 was a bit
confusing because the pulses my flight control was receiving were
already less than 1000, so going into failsafe actually raised all
channel levels until I adjusted subtrim on throttle to keep it around
1010.

With this code, it simply stops pulsing in such a way that matches what
the frsky d4r does (see below).  This is a well-known and unambiguous
path.

D4R losing radio contact:  http://i.imgur.com/8Xd27VQ.png

This code losing radio contact: http://i.imgur.com/lxGL4CT.png
Dustin Sallings 9 jaren geleden
bovenliggende
commit
7715d6eb60
1 gewijzigde bestanden met toevoegingen van 10 en 11 verwijderingen
  1. 10
    11
      frsky_arduino_rx_complete.ino

+ 10
- 11
frsky_arduino_rx_complete.ino Bestand weergeven

@@ -38,6 +38,7 @@ const int rssi_max = -96;
38 38
 #define chanel_number 8  //set the number of chanels
39 39
 #define SEEK_CHANSKIP   13
40 40
 #define MAX_MISSING_PKT 20
41
+#define FAILSAFE_MISSING_PKT 170
41 42
 #define PPM_FrLen 22500
42 43
 #define PPM_PulseLen 300
43 44
 #define default_servo_value 1500
@@ -106,6 +107,7 @@ volatile byte scale;
106 107
 static byte jumper1 = 0;
107 108
 static byte jumper2 = 0;
108 109
 volatile int ppm[chanel_number];
110
+volatile bool failed = false;
109 111
 static uint16_t total_servo_time = 0;
110 112
 static byte cur_chan_numb = 0;
111 113
 boolean debug = false;
@@ -216,18 +218,9 @@ void loop()
216 218
     unsigned long time = micros();
217 219
 
218 220
     #if defined(FAILSAFE)
219
-        if (missingPackets > 170) {
220
-            //**************************************
221
-            //noInterrupts();//
222
-            //digitalWrite(sigPin, LOW);
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-            //Servo_Ports_LOW;
224
-            //**********************************************
221
+        if (missingPackets > FAILSAFE_MISSING_PKT) {
222
+            failed = true;
225 223
             missingPackets = 0;
226
-            int i;
227
-            for (i = 0; i < 8; i++) {
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-                Servo_data[i] = 1000;
229
-                ppm[i] = 1000;
230
-            }
231 224
         }
232 225
     #endif
233 226
 
@@ -263,6 +256,7 @@ void loop()
263 256
                             cc2500_strobe(CC2500_SIDLE);
264 257
                             nextChannel(1);
265 258
                             LED_ON;
259
+                            failed = false;
266 260
                             break;
267 261
                         }
268 262
                     }
@@ -471,6 +465,11 @@ void getBind(void)
471 465
 
472 466
 ISR(TIMER1_COMPA_vect)
473 467
 {
468
+    if (failed) {
469
+        digitalWrite(sigPin, HIGH);
470
+        return;
471
+    }
472
+
474 473
     TCNT1 = 0;
475 474
     if (jumper1 == 0) {
476 475
         pinMode(Servo5_OUT, OUTPUT);

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