void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
{
static int32_t amperageRaw = 0;
static int64_t mAhdrawnRaw = 0;
int32_t throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
int32_t throttleFactor = 0;
switch(batteryConfig->currentMeterType) {
case CURRENT_SENSOR_ADC:
amperageRaw -= amperageRaw / 8;
amperageRaw += (amperageLatestADC = adcGetChannel(ADC_CURRENT));
amperage = currentSensorToCentiamps(amperageRaw / 8);
break;
case CURRENT_SENSOR_VIRTUAL:
amperage = (int32_t)batteryConfig->currentMeterOffset;
if (ARMING_FLAG(ARMED)) {
throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig, deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP))
throttleOffset = 0;
throttleFactor = throttleOffset + (throttleOffset * throttleOffset / 50);
amperage += throttleFactor * (int32_t)batteryConfig->currentMeterScale / 1000;
}
break;
case CURRENT_SENSOR_NONE:
amperage = 0;
break;
}
mAhdrawnRaw += (amperage * lastUpdateAt) / 1000;
mAhDrawn = mAhdrawnRaw / (3600 * 100);
}
void setupMulticopterAltitudeController(void)
{
throttleStatus_e throttleStatus = calculateThrottleStatus(posControl.rxConfig, posControl.flight3DConfig->deadband3d_throttle);
if (posControl.navConfig->flags.use_thr_mid_for_althold) {
altHoldThrottleRCZero = rcLookupThrottleMid();
}
else {
// If throttle status is THROTTLE_LOW - use Thr Mid anyway
if (throttleStatus == THROTTLE_LOW) {
altHoldThrottleRCZero = rcLookupThrottleMid();
}
else {
altHoldThrottleRCZero = rcCommand[THROTTLE];
}
}
// Make sure we are able to satisfy the deadband
altHoldThrottleRCZero = constrain(altHoldThrottleRCZero,
posControl.escAndServoConfig->minthrottle + posControl.rcControlsConfig->alt_hold_deadband + 10,
posControl.escAndServoConfig->maxthrottle - posControl.rcControlsConfig->alt_hold_deadband - 10);
/* Force AH controller to initialize althold integral for pending takeoff on reset */
if (throttleStatus == THROTTLE_LOW) {
prepareForTakeoffOnReset = true;
}
}
void taskUpdateBattery(void)
{
static uint32_t vbatLastServiced = 0;
static uint32_t ibatLastServiced = 0;
if (feature(FEATURE_VBAT)) {
if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTime;
voltageMeterUpdate();
batteryUpdate();
}
}
if (feature(FEATURE_AMPERAGE_METER)) {
int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTime;
if (batteryConfig()->amperageMeterSource == AMPERAGE_METER_ADC) {
amperageUpdateMeter(ibatTimeSinceLastServiced);
} else {
throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig(), rcControlsConfig()->deadband3d_throttle);
bool throttleLowAndMotorStop = (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP));
int32_t throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
amperageUpdateVirtualMeter(ibatTimeSinceLastServiced, ARMING_FLAG(ARMED), throttleLowAndMotorStop, throttleOffset);
}
}
}
}
static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
{
uint32_t startTime = 0;
if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
// PID - note this is function pointer set by setPIDController()
pidController(currentPidProfile, &accelerometerConfig()->accelerometerTrims, currentTimeUs);
DEBUG_SET(DEBUG_PIDLOOP, 1, micros() - startTime);
#ifdef USE_RUNAWAY_TAKEOFF
// Check to see if runaway takeoff detection is active (anti-taz), the pidSum is over the threshold,
// and gyro rate for any axis is above the limit for at least the activate delay period.
// If so, disarm for safety
if (ARMING_FLAG(ARMED)
&& !STATE(FIXED_WING)
&& pidConfig()->runaway_takeoff_prevention
&& !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashMode
&& !runawayTakeoffTemporarilyDisabled
&& (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (calculateThrottleStatus() != THROTTLE_LOW))) {
if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
|| (fabsf(pidData[FD_ROLL].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
|| (fabsf(pidData[FD_YAW].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD))
&& ((ABS(gyroAbsRateDps(FD_PITCH)) > RUNAWAY_TAKEOFF_GYRO_LIMIT_RP)
|| (ABS(gyroAbsRateDps(FD_ROLL)) > RUNAWAY_TAKEOFF_GYRO_LIMIT_RP)
|| (ABS(gyroAbsRateDps(FD_YAW)) > RUNAWAY_TAKEOFF_GYRO_LIMIT_YAW))) {
if (runawayTakeoffTriggerUs == 0) {
runawayTakeoffTriggerUs = currentTimeUs + RUNAWAY_TAKEOFF_ACTIVATE_DELAY;
} else if (currentTimeUs > runawayTakeoffTriggerUs) {
setArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF);
disarm();
}
} else {
runawayTakeoffTriggerUs = 0;
}
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_ENABLED_STATE, DEBUG_RUNAWAY_TAKEOFF_TRUE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_ACTIVATING_DELAY, runawayTakeoffTriggerUs == 0 ? DEBUG_RUNAWAY_TAKEOFF_FALSE : DEBUG_RUNAWAY_TAKEOFF_TRUE);
} else {
runawayTakeoffTriggerUs = 0;
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_ENABLED_STATE, DEBUG_RUNAWAY_TAKEOFF_FALSE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_ACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
}
#endif
#ifdef USE_PID_AUDIO
if (isModeActivationConditionPresent(BOXPIDAUDIO)) {
pidAudioUpdate();
}
#endif
}
void batteryUpdateCurrentMeter(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
if (batteryCellCount == 0) {
currentMeterReset(¤tMeter);
return;
}
static uint32_t ibatLastServiced = 0;
const int32_t lastUpdateAt = cmp32(currentTimeUs, ibatLastServiced);
ibatLastServiced = currentTimeUs;
switch (batteryConfig()->currentMeterSource) {
case CURRENT_METER_ADC:
currentMeterADCRefresh(lastUpdateAt);
currentMeterADCRead(¤tMeter);
break;
case CURRENT_METER_VIRTUAL: {
#ifdef USE_VIRTUAL_CURRENT_METER
throttleStatus_e throttleStatus = calculateThrottleStatus();
bool throttleLowAndMotorStop = (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP));
int32_t throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
currentMeterVirtualRefresh(lastUpdateAt, ARMING_FLAG(ARMED), throttleLowAndMotorStop, throttleOffset);
currentMeterVirtualRead(¤tMeter);
#endif
break;
}
case CURRENT_METER_ESC:
#ifdef USE_ESC_SENSOR
if (feature(FEATURE_ESC_SENSOR)) {
currentMeterESCRefresh(lastUpdateAt);
currentMeterESCReadCombined(¤tMeter);
}
#endif
break;
case CURRENT_METER_MSP:
#ifdef USE_MSP_CURRENT_METER
currentMeterMSPRefresh(currentTimeUs);
currentMeterMSPRead(¤tMeter);
#endif
break;
default:
case CURRENT_METER_NONE:
currentMeterReset(¤tMeter);
break;
}
}
static void sendThrottleOrBatterySizeAsRpm(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
{
uint16_t throttleForRPM = rcCommand[THROTTLE] / BLADE_NUMBER_DIVIDER;
sendDataHead(ID_RPM);
if (ARMING_FLAG(ARMED)) {
throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig, deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP))
throttleForRPM = 0;
serialize16(throttleForRPM);
} else {
serialize16((batteryConfig->batteryCapacity / BLADE_NUMBER_DIVIDER));
}
}
void taskUpdateBattery(void)
{
static uint32_t vbatLastServiced = 0;
static uint32_t ibatLastServiced = 0;
if (feature(FEATURE_VBAT)) {
if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTime;
updateBattery();
}
}
if (feature(FEATURE_CURRENT_METER)) {
int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTime;
throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig(), rcControlsConfig()->deadband3d_throttle);
updateCurrentMeter(ibatTimeSinceLastServiced, throttleStatus);
}
}
}
void processRx(void)
{
int i;
uint32_t auxState = 0;
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!rcOptions[BOXARM])
mwDisarm();
}
updateRSSI(currentTime);
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafe->vTable->isEnabled()) {
failsafe->vTable->enable();
}
failsafe->vTable->updateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW) {
resetErrorAngle();
resetErrorGyro();
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile.activate, masterConfig.retarded_arm);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
// Check AUX switches
// auxState is a bitmask, 3 bits per channel. aux1 is first.
// lower 16 bits contain aux 1 to 4, upper 16 bits contain aux 5 to 8
//
// the three bits are as follows:
// bit 1 is SET when the stick is less than 1300
// bit 2 is SET when the stick is between 1300 and 1700
// bit 3 is SET when the stick is above 1700
// if the value is 1300 or 1700 NONE of the three bits are set.
for (i = 0; i < 4; i++) {
auxState |= (rcData[AUX1 + i] < 1300) << (3 * i) |
(1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) |
(rcData[AUX1 + i] > 1700) << (3 * i + 2);
auxState |= ((rcData[AUX5 + i] < 1300) << (3 * i) |
(1300 < rcData[AUX5 + i] && rcData[AUX5 + i] < 1700) << (3 * i + 1) |
(rcData[AUX5 + i] > 1700) << (3 * i + 2)) << 16;
}
for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
rcOptions[i] = (auxState & currentProfile.activate[i]) > 0;
if ((rcOptions[BOXANGLE] || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
if (!f.ANGLE_MODE) {
resetErrorAngle();
f.ANGLE_MODE = 1;
}
} else {
f.ANGLE_MODE = 0; // failsafe support
}
if (rcOptions[BOXHORIZON]) {
f.ANGLE_MODE = 0;
if (!f.HORIZON_MODE) {
resetErrorAngle();
f.HORIZON_MODE = 1;
}
} else {
f.HORIZON_MODE = 0;
}
if (f.ANGLE_MODE || f.HORIZON_MODE) {
LED1_ON;
} else {
LED1_OFF;
}
#ifdef MAG
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (rcOptions[BOXMAG]) {
if (!f.MAG_MODE) {
f.MAG_MODE = 1;
magHold = heading;
}
} else {
f.MAG_MODE = 0;
}
if (rcOptions[BOXHEADFREE]) {
if (!f.HEADFREE_MODE) {
f.HEADFREE_MODE = 1;
}
} else {
f.HEADFREE_MODE = 0;
}
if (rcOptions[BOXHEADADJ]) {
headFreeModeHold = heading; // acquire new heading
}
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (rcOptions[BOXPASSTHRU]) {
f.PASSTHRU_MODE = 1;
} else {
f.PASSTHRU_MODE = 0;
}
if (masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING || masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE) {
f.HEADFREE_MODE = 0;
}
}
void updateArmingStatus(void)
{
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {
// Check if the power on arming grace time has elapsed
if ((getArmingDisableFlags() & ARMING_DISABLED_BOOT_GRACE_TIME) && (millis() >= systemConfig()->powerOnArmingGraceTime * 1000)) {
// If so, unset the grace time arming disable flag
unsetArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
}
// Clear the crash flip active status
flipOverAfterCrashMode = false;
// If switch is used for arming then check it is not defaulting to on when the RX link recovers from a fault
if (!isUsingSticksForArming()) {
static bool hadRx = false;
const bool haveRx = rxIsReceivingSignal();
const bool justGotRxBack = !hadRx && haveRx;
if (justGotRxBack && IS_RC_MODE_ACTIVE(BOXARM)) {
// If the RX has just started to receive a signal again and the arm switch is on, apply arming restriction
setArmingDisabled(ARMING_DISABLED_BAD_RX_RECOVERY);
} else if (haveRx && !IS_RC_MODE_ACTIVE(BOXARM)) {
// If RX signal is OK and the arm switch is off, remove arming restriction
unsetArmingDisabled(ARMING_DISABLED_BAD_RX_RECOVERY);
}
hadRx = haveRx;
}
if (IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
setArmingDisabled(ARMING_DISABLED_BOXFAILSAFE);
} else {
unsetArmingDisabled(ARMING_DISABLED_BOXFAILSAFE);
}
if (calculateThrottleStatus() != THROTTLE_LOW) {
setArmingDisabled(ARMING_DISABLED_THROTTLE);
} else {
unsetArmingDisabled(ARMING_DISABLED_THROTTLE);
}
if (!STATE(SMALL_ANGLE) && !IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
setArmingDisabled(ARMING_DISABLED_ANGLE);
} else {
unsetArmingDisabled(ARMING_DISABLED_ANGLE);
}
if (averageSystemLoadPercent > 100) {
setArmingDisabled(ARMING_DISABLED_LOAD);
} else {
unsetArmingDisabled(ARMING_DISABLED_LOAD);
}
if (isCalibrating()) {
setArmingDisabled(ARMING_DISABLED_CALIBRATING);
} else {
unsetArmingDisabled(ARMING_DISABLED_CALIBRATING);
}
if (isModeActivationConditionPresent(BOXPREARM)) {
if (IS_RC_MODE_ACTIVE(BOXPREARM) && !ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {
unsetArmingDisabled(ARMING_DISABLED_NOPREARM);
} else {
setArmingDisabled(ARMING_DISABLED_NOPREARM);
}
}
#ifdef USE_GPS_RESCUE
if (isModeActivationConditionPresent(BOXGPSRESCUE)) {
if (!gpsRescueConfig()->minSats || STATE(GPS_FIX_HOME) || ARMING_FLAG(WAS_EVER_ARMED)) {
unsetArmingDisabled(ARMING_DISABLED_GPS);
} else {
setArmingDisabled(ARMING_DISABLED_GPS);
}
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPARALYZE)) {
setArmingDisabled(ARMING_DISABLED_PARALYZE);
}
if (!isUsingSticksForArming()) {
/* Ignore ARMING_DISABLED_CALIBRATING if we are going to calibrate gyro on first arm */
bool ignoreGyro = armingConfig()->gyro_cal_on_first_arm
&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_CALIBRATING));
/* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */
bool ignoreThrottle = feature(FEATURE_3D)
&& !IS_RC_MODE_ACTIVE(BOX3D)
&& !flight3DConfig()->switched_mode3d
&& !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
#ifdef USE_RUNAWAY_TAKEOFF
if (!IS_RC_MODE_ACTIVE(BOXARM)) {
unsetArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF);
}
#endif
// If arming is disabled and the ARM switch is on
if (isArmingDisabled()
&& !ignoreGyro
&& !ignoreThrottle
&& IS_RC_MODE_ACTIVE(BOXARM)) {
setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
} else if (!IS_RC_MODE_ACTIVE(BOXARM)) {
unsetArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
}
}
if (isArmingDisabled()) {
warningLedFlash();
} else {
warningLedDisable();
}
warningLedUpdate();
}
}
void processRx(void)
{
static bool armedBeeperOn = false;
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
mwDisarm();
}
updateRSSI(currentTime);
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (masterConfig.auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
mwDisarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (masterConfig.auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.disarm_kill_switch, masterConfig.fixed_wing_auto_arm);
updateActivatedModes(currentProfile->modeActivationConditions, currentProfile->modeActivationOperator);
if (!cliMode) {
updateAdjustmentStates(currentProfile->adjustmentRanges);
processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive()) || naivationRequiresAngleMode()) && sensors(SENSOR_ACC)) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
}
/* Heading lock mode */
if (IS_RC_MODE_ACTIVE(BOXHEADINGLOCK)) {
if (!FLIGHT_MODE(HEADING_LOCK)) {
ENABLE_FLIGHT_MODE(HEADING_LOCK);
}
} else {
DISABLE_FLIGHT_MODE(HEADING_LOCK);
}
/* Flaperon mode */
if (IS_RC_MODE_ACTIVE(BOXFLAPERON) && STATE(FLAPERON_AVAILABLE)) {
if (!FLIGHT_MODE(FLAPERON)) {
ENABLE_FLIGHT_MODE(FLAPERON);
}
} else {
DISABLE_FLIGHT_MODE(FLAPERON);
}
/* Turn assistant mode */
if (IS_RC_MODE_ACTIVE(BOXTURNASSIST)) {
if (!FLIGHT_MODE(TURN_ASSISTANT)) {
ENABLE_FLIGHT_MODE(TURN_ASSISTANT);
}
} else {
DISABLE_FLIGHT_MODE(TURN_ASSISTANT);
}
#if defined(MAG)
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
resetMagHoldHeading(DECIDEGREES_TO_DEGREES(attitude.values.yaw));
ENABLE_FLIGHT_MODE(MAG_MODE);
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
}
}
#endif
// Navigation may override PASSTHRU_MODE
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU) && !naivationRequiresAngleMode()) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air
Low Throttle + roll and Pitch centered is assuming the copter is on the ground. Done to prevent complex air/ground detections */
if (FLIGHT_MODE(PASSTHRU_MODE) || !ARMING_FLAG(ARMED)) {
/* In PASSTHRU mode we reset integrators prevent I-term wind-up (PID output is not used in PASSTHRU) */
pidResetErrorAccumulators();
}
else {
if (throttleStatus == THROTTLE_LOW) {
if (IS_RC_MODE_ACTIVE(BOXAIRMODE) && !failsafeIsActive() && ARMING_FLAG(ARMED)) {
rollPitchStatus_e rollPitchStatus = calculateRollPitchCenterStatus(&masterConfig.rxConfig);
// ANTI_WINDUP at centred stick with MOTOR_STOP is needed on MRs and not needed on FWs
if ((rollPitchStatus == CENTERED) || (feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING))) {
ENABLE_STATE(ANTI_WINDUP);
}
else {
DISABLE_STATE(ANTI_WINDUP);
}
}
else {
DISABLE_STATE(ANTI_WINDUP);
pidResetErrorAccumulators();
}
}
else {
DISABLE_STATE(ANTI_WINDUP);
}
}
if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE || masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if ((!masterConfig.telemetryConfig.telemetry_switch && ARMING_FLAG(ARMED)) ||
(masterConfig.telemetryConfig.telemetry_switch && IS_RC_MODE_ACTIVE(BOXTELEMETRY))) {
releaseSharedTelemetryPorts();
} else {
// the telemetry state must be checked immediately so that shared serial ports are released.
telemetryCheckState();
mspSerialAllocatePorts();
}
}
#endif
}
void processRx(void)
{
static bool armedBeeperOn = false;
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
mwDisarm();
}
updateRSSI(currentTime);
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW) {
pidResetErrorAngle();
pidResetErrorGyro();
}
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (masterConfig.auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
mwDisarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (masterConfig.auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateActivatedModes(currentProfile->modeActivationConditions);
if (!cliMode) {
updateAdjustmentStates(currentProfile->adjustmentRanges);
processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
pidResetErrorAngle();
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
pidResetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
}
#ifdef MAG
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
}
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if ((!masterConfig.telemetryConfig.telemetry_switch && ARMING_FLAG(ARMED)) ||
(masterConfig.telemetryConfig.telemetry_switch && IS_RC_MODE_ACTIVE(BOXTELEMETRY))) {
releaseSharedTelemetryPorts();
} else {
// the telemetry state must be checked immediately so that shared serial ports are released.
telemetryCheckState();
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
}
#endif
}
void executePeriodicTasks(void)
{
static int periodicTaskIndex = 0;
switch (periodicTaskIndex++) {
#ifdef MAG
case UPDATE_COMPASS_TASK:
if (sensors(SENSOR_MAG)) {
updateCompass(&masterConfig.magZero);
}
break;
#endif
#ifdef BARO
case UPDATE_BARO_TASK:
if (sensors(SENSOR_BARO)) {
baroUpdate(currentTime);
}
break;
#endif
#if defined(BARO) || defined(SONAR)
case CALCULATE_ALTITUDE_TASK:
#if defined(BARO) && !defined(SONAR)
if (sensors(SENSOR_BARO) && isBaroReady()) {
#endif
#if defined(BARO) && defined(SONAR)
if ((sensors(SENSOR_BARO) && isBaroReady()) || sensors(SENSOR_SONAR)) {
#endif
#if !defined(BARO) && defined(SONAR)
if (sensors(SENSOR_SONAR)) {
#endif
calculateEstimatedAltitude(currentTime);
}
break;
#endif
#ifdef SONAR
case UPDATE_SONAR_TASK:
if (sensors(SENSOR_SONAR)) {
sonarUpdate();
}
break;
#endif
#ifdef DISPLAY
case UPDATE_DISPLAY_TASK:
if (feature(FEATURE_DISPLAY)) {
updateDisplay();
}
break;
#endif
}
if (periodicTaskIndex >= PERIODIC_TASK_COUNT) {
periodicTaskIndex = 0;
}
}
void processRx(void)
{
static bool armedBeeperOn = false;
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
mwDisarm();
}
updateRSSI(currentTime);
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW) {
pidResetErrorAngle();
pidResetErrorGyro();
}
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (masterConfig.auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
mwDisarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (masterConfig.auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateActivatedModes(currentProfile->modeActivationConditions);
if (!cliMode) {
updateAdjustmentStates(currentProfile->adjustmentRanges);
processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
pidResetErrorAngle();
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
pidResetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
}
#ifdef MAG
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = heading;
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
headFreeModeHold = heading; // acquire new heading
}
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if ((!masterConfig.telemetryConfig.telemetry_switch && ARMING_FLAG(ARMED)) ||
(masterConfig.telemetryConfig.telemetry_switch && IS_RC_MODE_ACTIVE(BOXTELEMETRY))) {
releaseSharedTelemetryPorts();
} else {
// the telemetry state must be checked immediately so that shared serial ports are released.
telemetryCheckState();
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
}
#endif
}
void filterRc(void){
static int16_t lastCommand[4] = { 0, 0, 0, 0 };
static int16_t deltaRC[4] = { 0, 0, 0, 0 };
static int16_t factor, rcInterpolationFactor;
static filterStatePt1_t filteredCycleTimeState;
uint16_t rxRefreshRate, filteredCycleTime;
// Set RC refresh rate for sampling and channels to filter
initRxRefreshRate(&rxRefreshRate);
filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 1);
rcInterpolationFactor = rxRefreshRate / filteredCycleTime + 1;
if (isRXDataNew) {
for (int channel=0; channel < 4; channel++) {
deltaRC[channel] = rcData[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
lastCommand[channel] = rcData[channel];
}
isRXDataNew = false;
factor = rcInterpolationFactor - 1;
} else {
factor--;
}
// Interpolate steps of rcData
if (factor > 0) {
for (int channel=0; channel < 4; channel++) {
rcData[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
}
} else {
factor = 0;
}
}
void loop(void)
{
static uint32_t loopTime;
#if defined(BARO) || defined(SONAR)
static bool haveProcessedAnnexCodeOnce = false;
#endif
updateRx(currentTime);
if (shouldProcessRx(currentTime)) {
processRx();
isRXDataNew = true;
#ifdef BARO
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
if (haveProcessedAnnexCodeOnce) {
if (sensors(SENSOR_BARO)) {
updateAltHoldState();
}
}
#endif
#ifdef SONAR
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
if (haveProcessedAnnexCodeOnce) {
if (sensors(SENSOR_SONAR)) {
updateSonarAltHoldState();
}
}
#endif
} else {
// not processing rx this iteration
executePeriodicTasks();
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
// change this based on available hardware
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsThread();
}
#endif
}
currentTime = micros();
if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + masterConfig.looptime;
imuUpdate(¤tProfile->accelerometerTrims);
// Measure loop rate just after reading the sensors
currentTime = micros();
cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime;
// Gyro Low Pass
if (currentProfile->pidProfile.gyro_cut_hz) {
int axis;
static filterStatePt1_t gyroADCState[XYZ_AXIS_COUNT];
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
gyroADC[axis] = filterApplyPt1(gyroADC[axis], &gyroADCState[axis], currentProfile->pidProfile.gyro_cut_hz);
}
}
if (masterConfig.rxConfig.rcSmoothing) {
filterRc();
}
annexCode();
#if defined(BARO) || defined(SONAR)
haveProcessedAnnexCodeOnce = true;
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
updateMagHold();
}
#endif
#ifdef GTUNE
updateGtuneState();
#endif
#if defined(BARO) || defined(SONAR)
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
applyAltHold(&masterConfig.airplaneConfig);
}
}
#endif
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
if (isUsingSticksForArming() && rcData[THROTTLE] <= masterConfig.rxConfig.mincheck
#ifndef USE_QUAD_MIXER_ONLY
&& !((masterConfig.mixerMode == MIXER_TRI || masterConfig.mixerMode == MIXER_CUSTOM_TRI) && masterConfig.mixerConfig.tri_unarmed_servo)
&& masterConfig.mixerMode != MIXER_AIRPLANE
&& masterConfig.mixerMode != MIXER_FLYING_WING
#endif
) {
rcCommand[YAW] = 0;
}
if (currentProfile->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile->throttle_correction_value);
}
#ifdef GPS
if (sensors(SENSOR_GPS)) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
updateGpsStateForHomeAndHoldMode();
}
}
#endif
// PID - note this is function pointer set by setPIDController()
pid_controller(
¤tProfile->pidProfile,
currentControlRateProfile,
masterConfig.max_angle_inclination,
¤tProfile->accelerometerTrims,
&masterConfig.rxConfig
);
mixTable();
#ifdef USE_SERVOS
filterServos();
writeServos();
#endif
if (motorControlEnable) {
writeMotors();
}
#ifdef BLACKBOX
if (!cliMode && feature(FEATURE_BLACKBOX)) {
handleBlackbox();
}
#endif
}
#ifdef TELEMETRY
if (!cliMode && feature(FEATURE_TELEMETRY)) {
telemetryProcess(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
}
#endif
#ifdef LED_STRIP
if (feature(FEATURE_LED_STRIP)) {
updateLedStrip();
}
#endif
}
void executePeriodicTasks(void)
{
static int periodicTaskIndex = 0;
switch (periodicTaskIndex++) {
#ifdef MAG
case UPDATE_COMPASS_TASK:
if (sensors(SENSOR_MAG)) {
updateCompass(&masterConfig.magZero);
}
break;
#endif
#ifdef BARO
case UPDATE_BARO_TASK:
if (sensors(SENSOR_BARO)) {
baroUpdate(currentTime);
}
break;
#endif
#if defined(BARO) || defined(SONAR)
case CALCULATE_ALTITUDE_TASK:
#if defined(BARO) && !defined(SONAR)
if (sensors(SENSOR_BARO) && isBaroReady()) {
#endif
#if defined(BARO) && defined(SONAR)
if ((sensors(SENSOR_BARO) && isBaroReady()) || sensors(SENSOR_SONAR)) {
#endif
#if !defined(BARO) && defined(SONAR)
if (sensors(SENSOR_SONAR)) {
#endif
calculateEstimatedAltitude(currentTime);
}
break;
#endif
#ifdef SONAR
case UPDATE_SONAR_TASK:
if (sensors(SENSOR_SONAR)) {
sonarUpdate();
}
break;
#endif
#ifdef DISPLAY
case UPDATE_DISPLAY_TASK:
if (feature(FEATURE_DISPLAY)) {
updateDisplay();
}
break;
#endif
}
if (periodicTaskIndex >= PERIODIC_TASK_COUNT) {
periodicTaskIndex = 0;
}
}
void processRx(void)
{
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
mwDisarm();
}
updateRSSI(currentTime);
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsEnabled()) {
failsafeEnable();
}
failsafeUpdateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW) {
pidResetErrorAngle();
pidResetErrorGyro();
}
// When armed and motors aren't spinning, disarm board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING)
&& masterConfig.auto_disarm_delay != 0
&& isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if ((int32_t)(disarmAt - millis()) < 0) // delay is over
mwDisarm();
} else {
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000; // extend delay
}
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateActivatedModes(currentProfile->modeActivationConditions);
if (!cliMode) {
updateAdjustmentStates(currentProfile->adjustmentRanges);
processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeHasTimerElapsed())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
pidResetErrorAngle();
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
pidResetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
}
#ifdef MAG
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = heading;
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
headFreeModeHold = heading; // acquire new heading
}
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (masterConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
}
void loop(void)
{
static uint32_t loopTime;
#if defined(BARO) || defined(SONAR)
static bool haveProcessedAnnexCodeOnce = false;
#endif
updateRx();
if (shouldProcessRx(currentTime)) {
processRx();
#ifdef BARO
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
if (haveProcessedAnnexCodeOnce) {
if (sensors(SENSOR_BARO)) {
updateAltHoldState();
}
}
#endif
#ifdef SONAR
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
if (haveProcessedAnnexCodeOnce) {
if (sensors(SENSOR_SONAR)) {
updateSonarAltHoldState();
}
}
#endif
} else {
// not processing rx this iteration
executePeriodicTasks();
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
// change this based on available hardware
#ifdef GPS
if (feature(FEATURE_GPS)) {
gpsThread();
}
#endif
}
currentTime = micros();
if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + masterConfig.looptime;
imuUpdate(¤tProfile->accelerometerTrims, masterConfig.mixerMode);
// Measure loop rate just after reading the sensors
currentTime = micros();
cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime;
annexCode();
#if defined(BARO) || defined(SONAR)
haveProcessedAnnexCodeOnce = true;
#endif
#ifdef AUTOTUNE
updateAutotuneState();
#endif
#ifdef MAG
if (sensors(SENSOR_MAG)) {
updateMagHold();
}
#endif
#if defined(BARO) || defined(SONAR)
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
applyAltHold(&masterConfig.airplaneConfig);
}
}
#endif
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.
if (isUsingSticksForArming() && rcData[THROTTLE] <= masterConfig.rxConfig.mincheck) {
rcCommand[YAW] = 0;
}
if (currentProfile->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile->throttle_correction_value);
}
#ifdef GPS
if (sensors(SENSOR_GPS)) {
if ((FLIGHT_MODE(GPS_HOME_MODE) || FLIGHT_MODE(GPS_HOLD_MODE)) && STATE(GPS_FIX_HOME)) {
updateGpsStateForHomeAndHoldMode();
}
}
#endif
// PID - note this is function pointer set by setPIDController()
pid_controller(
¤tProfile->pidProfile,
currentControlRateProfile,
masterConfig.max_angle_inclination,
¤tProfile->accelerometerTrims,
&masterConfig.rxConfig
);
mixTable();
#ifdef USE_SERVOS
filterServos();
writeServos();
#endif
writeMotors();
#ifdef BLACKBOX
if (!cliMode && feature(FEATURE_BLACKBOX)) {
handleBlackbox();
}
#endif
}
#ifdef TELEMETRY
if (!cliMode && feature(FEATURE_TELEMETRY)) {
handleTelemetry();
}
#endif
#ifdef LED_STRIP
if (feature(FEATURE_LED_STRIP)) {
updateLedStrip();
}
#endif
}
void failsafeUpdateState(void)
{
if (!failsafeIsMonitoring()) {
return;
}
bool receivingRxData = failsafeIsReceivingRxData();
bool armed = ARMING_FLAG(ARMED);
bool failsafeSwitchIsOn = IS_RC_MODE_ACTIVE(BOXFAILSAFE);
beeperMode_e beeperMode = BEEPER_SILENCE;
if (!receivingRxData) {
beeperMode = BEEPER_RX_LOST;
}
bool reprocessState;
do {
reprocessState = false;
switch (failsafeState.phase) {
case FAILSAFE_IDLE:
if (armed) {
// Track throttle command below minimum time
if (THROTTLE_HIGH == calculateThrottleStatus(rxConfig, deadband3dThrottle)) {
failsafeState.throttleLowPeriod = millis() + failsafeConfig->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
}
// Kill switch logic (must be independent of receivingRxData to skip PERIOD_RXDATA_FAILURE delay before disarming)
if (failsafeSwitchIsOn && failsafeConfig->failsafe_kill_switch) {
// KillswitchEvent: failsafe switch is configured as KILL switch and is switched ON
failsafeActivate();
failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_1_SECONDS; // require 1 seconds of valid rxData
reprocessState = true;
} else if (!receivingRxData) {
if (millis() > failsafeState.throttleLowPeriod) {
// JustDisarm: throttle was LOW for at least 'failsafe_throttle_low_delay' seconds
failsafeActivate();
failsafeState.phase = FAILSAFE_LANDED; // skip auto-landing procedure
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS; // require 3 seconds of valid rxData
} else {
failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED;
}
reprocessState = true;
}
} else {
// When NOT armed, show rxLinkState of failsafe switch in GUI (failsafe mode)
if (failsafeSwitchIsOn) {
ENABLE_FLIGHT_MODE(FAILSAFE_MODE);
} else {
DISABLE_FLIGHT_MODE(FAILSAFE_MODE);
}
// Throttle low period expired (= low long enough for JustDisarm)
failsafeState.throttleLowPeriod = 0;
}
break;
case FAILSAFE_RX_LOSS_DETECTED:
if (receivingRxData) {
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
} else {
// Stabilize, and set Throttle to specified level
failsafeActivate();
}
reprocessState = true;
break;
case FAILSAFE_LANDING:
if (receivingRxData) {
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
reprocessState = true;
}
if (armed) {
failsafeApplyControlInput();
beeperMode = BEEPER_RX_LOST_LANDING;
}
if (failsafeShouldHaveCausedLandingByNow() || !armed) {
failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_30_SECONDS; // require 30 seconds of valid rxData
failsafeState.phase = FAILSAFE_LANDED;
reprocessState = true;
}
break;
case FAILSAFE_LANDED:
ENABLE_ARMING_FLAG(PREVENT_ARMING); // To prevent accidently rearming by an intermittent rx link
mwDisarm();
failsafeState.receivingRxDataPeriod = millis() + failsafeState.receivingRxDataPeriodPreset; // set required period of valid rxData
failsafeState.phase = FAILSAFE_RX_LOSS_MONITORING;
reprocessState = true;
break;
case FAILSAFE_RX_LOSS_MONITORING:
// Monitoring the rx link to allow rearming when it has become good for > `receivingRxDataPeriodPreset` time.
if (receivingRxData) {
if (millis() > failsafeState.receivingRxDataPeriod) {
// rx link is good now, when arming via ARM switch, it must be OFF first
if (!(!isUsingSticksForArming() && IS_RC_MODE_ACTIVE(BOXARM))) {
DISABLE_ARMING_FLAG(PREVENT_ARMING);
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
reprocessState = true;
}
}
} else {
failsafeState.receivingRxDataPeriod = millis() + failsafeState.receivingRxDataPeriodPreset;
}
break;
case FAILSAFE_RX_LOSS_RECOVERED:
// Entering IDLE with the requirement that throttle first must be at min_check for failsafe_throttle_low_delay period.
// This is to prevent that JustDisarm is activated on the next iteration.
// Because that would have the effect of shutting down failsafe handling on intermittent connections.
failsafeState.throttleLowPeriod = millis() + failsafeConfig->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
failsafeState.phase = FAILSAFE_IDLE;
failsafeState.active = false;
DISABLE_FLIGHT_MODE(FAILSAFE_MODE);
reprocessState = true;
break;
default:
break;
}
} while (reprocessState);
if (beeperMode != BEEPER_SILENCE) {
beeper(beeperMode);
}
}
void processRx(timeUs_t currentTimeUs)
{
static bool armedBeeperOn = false;
static bool airmodeIsActivated;
calculateRxChannelsAndUpdateFailsafe(currentTimeUs);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
mwDisarm();
}
updateRSSI(currentTimeUs);
if (feature(FEATURE_FAILSAFE)) {
if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
}
const throttleStatus_e throttleStatus = calculateThrottleStatus();
if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
if (rcCommand[THROTTLE] >= rxConfig()->airModeActivateThreshold) airmodeIsActivated = true; // Prevent Iterm from being reset
} else {
airmodeIsActivated = false;
}
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
pidResetErrorGyroState();
if (currentPidProfile->pidAtMinThrottle)
pidStabilisationState(PID_STABILISATION_ON);
else
pidStabilisationState(PID_STABILISATION_OFF);
} else {
pidStabilisationState(PID_STABILISATION_ON);
}
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
&& !feature(FEATURE_3D)
&& !isAirmodeActive()
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (armingConfig()->auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
mwDisarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (armingConfig()->auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions(throttleStatus);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateActivatedModes();
if (!cliMode) {
updateAdjustmentStates();
processRcAdjustments(currentControlRateProfile);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
}
#if defined(ACC) || defined(MAG)
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
#if defined(GPS) || defined(MAG)
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
#endif
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
}
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if ((!telemetryConfig()->telemetry_switch && ARMING_FLAG(ARMED)) ||
(telemetryConfig()->telemetry_switch && IS_RC_MODE_ACTIVE(BOXTELEMETRY))) {
releaseSharedTelemetryPorts();
} else {
// the telemetry state must be checked immediately so that shared serial ports are released.
telemetryCheckState();
mspSerialAllocatePorts();
}
}
#endif
#ifdef VTX
vtxUpdateActivatedChannel();
#endif
}
/*
* processRx called from taskUpdateRxMain
*/
bool processRx(timeUs_t currentTimeUs)
{
static bool armedBeeperOn = false;
if (!calculateRxChannelsAndUpdateFailsafe(currentTimeUs)) {
return false;
}
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!IS_RC_MODE_ACTIVE(BOXARM))
disarm();
}
updateRSSI(currentTimeUs);
if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
const throttleStatus_e throttleStatus = calculateThrottleStatus();
const uint8_t throttlePercent = calculateThrottlePercent();
if (isAirmodeActive() && ARMING_FLAG(ARMED)) {
if (throttlePercent >= rxConfig()->airModeActivateThreshold) {
airmodeIsActivated = true; // Prevent Iterm from being reset
}
} else {
airmodeIsActivated = false;
}
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated) {
pidResetITerm();
if (currentPidProfile->pidAtMinThrottle)
pidStabilisationState(PID_STABILISATION_ON);
else
pidStabilisationState(PID_STABILISATION_OFF);
} else {
pidStabilisationState(PID_STABILISATION_ON);
}
#ifdef USE_RUNAWAY_TAKEOFF
// If runaway_takeoff_prevention is enabled, accumulate the amount of time that throttle
// is above runaway_takeoff_deactivate_throttle with the any of the R/P/Y sticks deflected
// to at least runaway_takeoff_stick_percent percent while the pidSum on all axis is kept low.
// Once the amount of accumulated time exceeds runaway_takeoff_deactivate_delay then disable
// prevention for the remainder of the battery.
if (ARMING_FLAG(ARMED)
&& pidConfig()->runaway_takeoff_prevention
&& !runawayTakeoffCheckDisabled
&& !flipOverAfterCrashMode
&& !runawayTakeoffTemporarilyDisabled
&& !STATE(FIXED_WING)) {
// Determine if we're in "flight"
// - motors running
// - throttle over runaway_takeoff_deactivate_throttle_percent
// - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
// - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
bool inStableFlight = false;
if (!feature(FEATURE_MOTOR_STOP) || isAirmodeActive() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))
&& (fabsf(pidData[FD_PITCH].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
&& (fabsf(pidData[FD_ROLL].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
&& (fabsf(pidData[FD_YAW].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)) {
inStableFlight = true;
if (runawayTakeoffDeactivateUs == 0) {
runawayTakeoffDeactivateUs = currentTimeUs;
}
}
}
// If we're in flight, then accumulate the time and deactivate once it exceeds runaway_takeoff_deactivate_delay milliseconds
if (inStableFlight) {
if (runawayTakeoffDeactivateUs == 0) {
runawayTakeoffDeactivateUs = currentTimeUs;
}
uint16_t deactivateDelay = pidConfig()->runaway_takeoff_deactivate_delay;
// at high throttle levels reduce deactivation delay by 50%
if (throttlePercent >= RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT) {
deactivateDelay = deactivateDelay / 2;
}
if ((cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) > deactivateDelay * 1000) {
runawayTakeoffCheckDisabled = true;
}
} else {
if (runawayTakeoffDeactivateUs != 0) {
runawayTakeoffAccumulatedUs += cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs);
}
runawayTakeoffDeactivateUs = 0;
}
if (runawayTakeoffDeactivateUs == 0) {
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, runawayTakeoffAccumulatedUs / 1000);
} else {
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_TRUE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, (cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) / 1000);
}
} else {
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, DEBUG_RUNAWAY_TAKEOFF_FALSE);
}
#endif
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
&& !feature(FEATURE_3D)
&& !isAirmodeActive()
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (armingConfig()->auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
disarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (armingConfig()->auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions();
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateActivatedModes();
#ifdef USE_DSHOT
/* Enable beep warning when the crash flip mode is active */
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
beeper(BEEPER_CRASH_FLIP_MODE);
}
#endif
if (!cliMode) {
updateAdjustmentStates();
processRcAdjustments(currentControlRateProfile);
}
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || failsafeIsActive()) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
#ifdef USE_GPS_RESCUE
if (IS_RC_MODE_ACTIVE(BOXGPSRESCUE) || (failsafeIsActive() && failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE)) {
if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
}
#endif
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
// increase frequency of attitude task to reduce drift when in angle or horizon mode
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(500));
} else {
LED1_OFF;
rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(100));
}
if (!IS_RC_MODE_ACTIVE(BOXPREARM) && ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {
DISABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
}
#if defined(USE_ACC) || defined(USE_MAG)
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
#if defined(USE_GPS) || defined(USE_MAG)
if (IS_RC_MODE_ACTIVE(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
#endif
if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
if (imuQuaternionHeadfreeOffsetSet()){
beeper(BEEPER_RX_SET);
}
}
}
#endif
if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef USE_TELEMETRY
static bool sharedPortTelemetryEnabled = false;
if (feature(FEATURE_TELEMETRY)) {
bool enableSharedPortTelemetry = (!isModeActivationConditionPresent(BOXTELEMETRY) && ARMING_FLAG(ARMED)) || (isModeActivationConditionPresent(BOXTELEMETRY) && IS_RC_MODE_ACTIVE(BOXTELEMETRY));
if (enableSharedPortTelemetry && !sharedPortTelemetryEnabled) {
mspSerialReleaseSharedTelemetryPorts();
telemetryCheckState();
sharedPortTelemetryEnabled = true;
} else if (!enableSharedPortTelemetry && sharedPortTelemetryEnabled) {
// the telemetry state must be checked immediately so that shared serial ports are released.
telemetryCheckState();
mspSerialAllocatePorts();
sharedPortTelemetryEnabled = false;
}
}
#endif
#ifdef USE_VTX_CONTROL
vtxUpdateActivatedChannel();
if (canUpdateVTX()) {
handleVTXControlButton();
}
#endif
#ifdef USE_ACRO_TRAINER
pidSetAcroTrainerState(IS_RC_MODE_ACTIVE(BOXACROTRAINER) && sensors(SENSOR_ACC));
#endif // USE_ACRO_TRAINER
#ifdef USE_RC_SMOOTHING_FILTER
if (ARMING_FLAG(ARMED) && !rcSmoothingInitializationComplete()) {
beeper(BEEPER_RC_SMOOTHING_INIT_FAIL);
}
#endif
pidSetAntiGravityState(IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || feature(FEATURE_ANTI_GRAVITY));
return true;
}
void processRx(void)
{
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!rcOptions[BOXARM])
mwDisarm();
}
updateRSSI(currentTime);
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafe->vTable->isEnabled()) {
failsafe->vTable->enable();
}
failsafe->vTable->updateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
if (throttleStatus == THROTTLE_LOW) {
resetErrorAngle();
resetErrorGyro();
}
processRcStickPositions(&masterConfig.rxConfig, throttleStatus, currentProfile->activate, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
updateRcOptions(currentProfile->activate);
bool canUseHorizonMode = true;
if ((rcOptions[BOXANGLE] || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
resetErrorAngle();
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (rcOptions[BOXHORIZON] && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
resetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
}
#ifdef MAG
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (rcOptions[BOXMAG]) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = heading;
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
if (rcOptions[BOXHEADFREE]) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (rcOptions[BOXHEADADJ]) {
headFreeModeHold = heading; // acquire new heading
}
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (rcOptions[BOXPASSTHRU]) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING || masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
}
void processRx(void)
{
static bool armedBeeperOn = false;
calculateRxChannelsAndUpdateFailsafe(currentTime);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
if (!rcModeIsActive(BOXARM))
mwDisarm();
}
updateRSSI(currentTime);
if (feature(FEATURE_FAILSAFE)) {
if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
}
throttleStatus_e throttleStatus = calculateThrottleStatus(rxConfig(), rcControlsConfig()->deadband3d_throttle);
rollPitchStatus_e rollPitchStatus = calculateRollPitchCenterStatus(rxConfig());
/* In airmode Iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
This is needed to prevent Iterm winding on the ground, but keep full stabilisation on 0 throttle while in air
Low Throttle + roll and Pitch centered is assuming the copter is on the ground. Done to prevent complex air/ground detections */
if (throttleStatus == THROTTLE_LOW) {
if (rcModeIsActive(BOXAIRMODE) && !failsafeIsActive() && ARMING_FLAG(ARMED)) {
if (rollPitchStatus == CENTERED) {
ENABLE_STATE(ANTI_WINDUP);
} else {
DISABLE_STATE(ANTI_WINDUP);
}
} else {
pidResetITerm();
}
} else {
DISABLE_STATE(ANTI_WINDUP);
}
// When armed and motors aren't spinning, do beeps and then disarm
// board after delay so users without buzzer won't lose fingers.
// mixTable constrains motor commands, so checking throttleStatus is enough
if (ARMING_FLAG(ARMED)
&& feature(FEATURE_MOTOR_STOP)
&& !STATE(FIXED_WING)
) {
if (isUsingSticksForArming()) {
if (throttleStatus == THROTTLE_LOW) {
if (armingConfig()->auto_disarm_delay != 0
&& (int32_t)(disarmAt - millis()) < 0
) {
// auto-disarm configured and delay is over
mwDisarm();
armedBeeperOn = false;
} else {
// still armed; do warning beeps while armed
beeper(BEEPER_ARMED);
armedBeeperOn = true;
}
} else {
// throttle is not low
if (armingConfig()->auto_disarm_delay != 0) {
// extend disarm time
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;
}
if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
} else {
// arming is via AUX switch; beep while throttle low
if (throttleStatus == THROTTLE_LOW) {
beeper(BEEPER_ARMED);
armedBeeperOn = true;
} else if (armedBeeperOn) {
beeperSilence();
armedBeeperOn = false;
}
}
}
processRcStickPositions(rxConfig(), throttleStatus, armingConfig()->retarded_arm, armingConfig()->disarm_kill_switch);
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
updateInflightCalibrationState();
}
rcModeUpdateActivated(modeActivationProfile()->modeActivationConditions);
if (!cliMode) {
updateAdjustmentStates(adjustmentProfile()->adjustmentRanges);
processRcAdjustments(currentControlRateProfile, rxConfig());
}
bool canUseHorizonMode = true;
if ((rcModeIsActive(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;
if (!FLIGHT_MODE(ANGLE_MODE)) {
ENABLE_FLIGHT_MODE(ANGLE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (rcModeIsActive(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
} else {
LED1_OFF;
}
#ifdef MAG
if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
if (rcModeIsActive(BOXMAG)) {
if (!FLIGHT_MODE(MAG_MODE)) {
ENABLE_FLIGHT_MODE(MAG_MODE);
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
} else {
DISABLE_FLIGHT_MODE(MAG_MODE);
}
if (rcModeIsActive(BOXHEADFREE)) {
if (!FLIGHT_MODE(HEADFREE_MODE)) {
ENABLE_FLIGHT_MODE(HEADFREE_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
if (rcModeIsActive(BOXHEADADJ)) {
headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // acquire new heading
}
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (rcModeIsActive(BOXPASSTHRU)) {
ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
} else {
DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
}
if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
DISABLE_FLIGHT_MODE(HEADFREE_MODE);
}
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY)) {
if ((!telemetryConfig()->telemetry_switch && ARMING_FLAG(ARMED))
|| (telemetryConfig()->telemetry_switch && rcModeIsActive(BOXTELEMETRY))) {
releaseSharedTelemetryPorts();
} else {
// the telemetry state must be checked immediately so that shared serial ports are released.
bool telemetryStateChanged = telemetryCheckState();
if (telemetryStateChanged) {
mspSerialAllocatePorts();
}
}
}
#endif
#ifdef VTX
if (canUpdateVTX()) {
updateVTXState();
}
#endif
}
