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
}
/*
* Called periodically by the scheduler
*/
void osdUpdate(timeUs_t currentTimeUs)
{
static uint32_t counter = 0;
if (isBeeperOn()) {
showVisualBeeper = true;
}
#ifdef MAX7456_DMA_CHANNEL_TX
// don't touch buffers if DMA transaction is in progress
if (displayIsTransferInProgress(osdDisplayPort)) {
return;
}
#endif // MAX7456_DMA_CHANNEL_TX
#ifdef USE_SLOW_MSP_DISPLAYPORT_RATE_WHEN_UNARMED
static uint32_t idlecounter = 0;
if (!ARMING_FLAG(ARMED)) {
if (idlecounter++ % 4 != 0) {
return;
}
}
#endif
// redraw values in buffer
#ifdef USE_MAX7456
#define DRAW_FREQ_DENOM 5
#else
#define DRAW_FREQ_DENOM 10 // MWOSD @ 115200 baud (
#endif
#define STATS_FREQ_DENOM 50
if (counter % DRAW_FREQ_DENOM == 0) {
osdRefresh(currentTimeUs);
showVisualBeeper = false;
} else {
// rest of time redraw screen 10 chars per idle so it doesn't lock the main idle
displayDrawScreen(osdDisplayPort);
}
++counter;
#ifdef USE_CMS
// do not allow ARM if we are in menu
if (displayIsGrabbed(osdDisplayPort)) {
setArmingDisabled(ARMING_DISABLED_OSD_MENU);
} else {
unsetArmingDisabled(ARMING_DISABLED_OSD_MENU);
}
#endif
}
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();
}
}