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Speed control and RTH/FAILSAFE improvements #1401

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merged 4 commits into from
Mar 30, 2017
Merged

Speed control and RTH/FAILSAFE improvements #1401

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8b7a14a
Split auto/manual speed and climb rate limitation; Remove 2D RTH; RTH…
digitalentity Mar 13, 2017
7ce1872
Some cleanups
digitalentity Mar 13, 2017
b38d6e3
Protection from activating RTH w/o altitude sensor
digitalentity Mar 13, 2017
628216e
Fallback to FAILSAFE_LANDING in case RTH is aborted during failsafe
digitalentity Mar 15, 2017
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4 changes: 2 additions & 2 deletions docs/Cli.md
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Original file line number Diff line number Diff line change
Expand Up @@ -160,8 +160,8 @@ Re-apply any new defaults as desired.
| nav_position_timeout | 5 | If GPS fails wait for this much seconds before switching to emergency landing mode (0 - disable) |
| nav_wp_radius | 100 | Waypoint radius [cm]. Waypoint would be considered reached if machine is within this radius |
| nav_wp_safe_distance | 10000 | First waypoint in the mission should be closer than this value (cm) |
| nav_max_speed | 300 | Maximum velocity firmware is allowed in full auto modes (POSHOLD, RTH, WP) [cm/s] [Multirotor only] |
| nav_max_climb_rate | 500 | Maximum climb/descent rate that UAV is allowed to reach during navigation modes. In cm/s |
| nav_auto_speed | 300 | Maximum velocity firmware is allowed in full auto modes (POSHOLD, RTH, WP) [cm/s] [Multirotor only] |
| nav_auto_climb_rate | 500 | Maximum climb/descent rate that UAV is allowed to reach during navigation modes. In cm/s |
| nav_manual_speed | 500 | Maximum velocity firmware is allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only] |
| nav_manual_climb_rate | 200 | Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] |
| nav_landing_speed | 200 | Vertical descent velocity during the RTH landing phase. [cm/s] |
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4 changes: 2 additions & 2 deletions src/main/fc/cli.c
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Expand Up @@ -807,8 +807,8 @@ static const clivalue_t valueTable[] = {
{ "nav_position_timeout", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 10 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.pos_failure_timeout) },
{ "nav_wp_radius", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 10000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.waypoint_radius) },
{ "nav_wp_safe_distance", VAR_UINT16 | MASTER_VALUE | MODE_MAX, .config.max = { 65000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.waypoint_safe_distance) },
{ "nav_max_speed", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.max_speed) },
{ "nav_max_climb_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.max_climb_rate) },
{ "nav_auto_speed", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.max_auto_speed) },
{ "nav_auto_climb_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.max_auto_climb_rate) },
{ "nav_manual_speed", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.max_manual_speed) },
{ "nav_manual_climb_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.max_manual_climb_rate ) },
{ "nav_landing_speed", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 100, 2000 }, PG_NAV_CONFIG, offsetof(navConfig_t, general.land_descent_rate) },
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8 changes: 4 additions & 4 deletions src/main/fc/fc_msp.c
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Expand Up @@ -1163,8 +1163,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#ifdef NAV
case MSP_NAV_POSHOLD:
sbufWriteU8(dst, navConfig()->general.flags.user_control_mode);
sbufWriteU16(dst, navConfig()->general.max_speed);
sbufWriteU16(dst, navConfig()->general.max_climb_rate);
sbufWriteU16(dst, navConfig()->general.max_auto_speed);
sbufWriteU16(dst, navConfig()->general.max_auto_climb_rate);
sbufWriteU16(dst, navConfig()->general.max_manual_speed);
sbufWriteU16(dst, navConfig()->general.max_manual_climb_rate);
sbufWriteU8(dst, navConfig()->mc.max_bank_angle);
Expand Down Expand Up @@ -1640,8 +1640,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifdef NAV
case MSP_SET_NAV_POSHOLD:
navConfigMutable()->general.flags.user_control_mode = sbufReadU8(src);
navConfigMutable()->general.max_speed = sbufReadU16(src);
navConfigMutable()->general.max_climb_rate = sbufReadU16(src);
navConfigMutable()->general.max_auto_speed = sbufReadU16(src);
navConfigMutable()->general.max_auto_climb_rate = sbufReadU16(src);
navConfigMutable()->general.max_manual_speed = sbufReadU16(src);
navConfigMutable()->general.max_manual_climb_rate = sbufReadU16(src);
navConfigMutable()->mc.max_bank_angle = sbufReadU8(src);
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17 changes: 11 additions & 6 deletions src/main/flight/failsafe.c
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Expand Up @@ -413,19 +413,24 @@ void failsafeUpdateState(void)
if (armed) {
beeperMode = BEEPER_RX_LOST_LANDING;
}
bool rthIdleOrLanded;
bool rthLanded = false;
switch (getStateOfForcedRTH()) {
case RTH_IN_PROGRESS:
rthIdleOrLanded = false;
break;

default:
case RTH_IDLE:
case RTH_HAS_LANDED:
rthIdleOrLanded = true;
rthLanded = true;
break;

case RTH_IDLE:
default:
// This shouldn't happen. If RTH was somehow aborted during failsafe - fallback to FAILSAFE_LANDING procedure
abortForcedRTH();
failsafeActivate(FAILSAFE_LANDING);
reprocessState = true;
break;
}
if (rthIdleOrLanded || !armed) {
if (rthLanded || !armed) {
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_30_SECONDS; // require 30 seconds of valid rxData
failsafeState.phase = FAILSAFE_LANDED;
reprocessState = true;
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