Ignore RC channel values sent by receiver in failsafe #3482
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… RC filter and rcData. Only meaningful for digital receivers that signal the link loss explicitly
This was referenced Jun 30, 2018
digitalentity
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Did some testing. RC receiver is connected by SBUS set to "No pulses". However in failsafe reciever sends all channels at 1500 regardless of pre-failsafe settings. Combined with filtering this causes rcData to hold incorrect values when recovering from brief receiver failsafe (short enough to not trigger the actual FAILSAFE procedure).
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digitalentity
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A few releases ago we had a piece of code processing RX data and only populating
rcDataif receiver was sending trusted values (not failsafe, within limits).Roughly after we removed this piece of code we started getting reports about spontaneous disarms in near-failsafe conditions. Most likely suspect - RC filtering (default enabled by co-incidental mistake).
What probably happened - RC receiver was set to send a "disarmed" value in "ARM" channel when in link loss state. By itself this is harmless, but combined with RC filtering that introduced delay to channel values we might have hit a race condition between signal recovery and channel values getting back to normal state. This explains why we see normal "switch disarm" in logs - from firmware's point of view this IS a valid switch disarm followed by attempt to re-arm (failing due to non-zero throttle).
This PR re-introduces the check for valid channel values and valid link before populating
rcData. Raw receiver values (rxrange-d but unfiltered) are sent to Configurator to keep user experience the same.