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Better SBUS failsafe detection and reporting #7

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Better SBUS failsafe detection and reporting #7

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28 changes: 23 additions & 5 deletions Versions/dRehmFlight_Teensy_BETA_1.3/dRehmFlight_Teensy_BETA_1.3.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,9 @@ Everyone that sends me pictures and videos of your flying creations! -Nick
//#define USE_DSM_RX
static const uint8_t num_DSM_channels = 6; //If using DSM RX, change this to match the number of transmitter channels you have

//Define how many SBUS missing frames are required to trigger failsafe
#define FS_MAXCOUNT 1000

//Uncomment only one IMU
#define USE_MPU6050_I2C //Default
//#define USE_MPU9250_SPI
Expand Down Expand Up @@ -298,7 +301,9 @@ int m1_command_PWM, m2_command_PWM, m3_command_PWM, m4_command_PWM, m5_command_P
float s1_command_scaled, s2_command_scaled, s3_command_scaled, s4_command_scaled, s5_command_scaled, s6_command_scaled, s7_command_scaled;
int s1_command_PWM, s2_command_PWM, s3_command_PWM, s4_command_PWM, s5_command_PWM, s6_command_PWM, s7_command_PWM;


//SBUS failsafe
bool isFailsafe = true;
unsigned int countFailsafe = FS_MAXCOUNT;

//========================================================================================================================//
// VOID SETUP //
Expand Down Expand Up @@ -1171,8 +1176,14 @@ void getCommands() {
channel_4_pwm = sbusChannels[3] * scale + bias;
channel_5_pwm = sbusChannels[4] * scale + bias;
channel_6_pwm = sbusChannels[5] * scale + bias;
if ((sbusLostFrame || sbusFailSafe) && countFailsafe<FS_MAXCOUNT) countFailsafe++;
else {
countFailsafe=0;
}
} else {
if (countFailsafe<FS_MAXCOUNT) countFailsafe++;
}

#elif defined USE_DSM_RX
if (DSM.timedOut(micros())) {
//Serial.println("*** DSM RX TIMED OUT ***");
Expand Down Expand Up @@ -1229,13 +1240,16 @@ void failSafe() {
if (channel_6_pwm > maxVal || channel_6_pwm < minVal) check6 = 1;

//If any failures, set to default failsafe values
if ((check1 + check2 + check3 + check4 + check5 + check6) > 0) {
if ((check1 + check2 + check3 + check4 + check5 + check6) > 0 || countFailsafe>=FS_MAXCOUNT) {
isFailsafe=true;
channel_1_pwm = channel_1_fs;
channel_2_pwm = channel_2_fs;
channel_3_pwm = channel_3_fs;
channel_4_pwm = channel_4_fs;
channel_5_pwm = channel_5_fs;
channel_6_pwm = channel_6_fs;
} else {
isFailsafe=false;
}
}

Expand Down Expand Up @@ -1529,12 +1543,12 @@ void loopBlink() {
*/
if (current_time - blink_counter > blink_delay) {
blink_counter = micros();
digitalWrite(13, blinkAlternate); //Pin 13 is built in LED
digitalWrite(13, blinkAlternate || isFailsafe); //Pin 13 is built in LED

if (blinkAlternate == 1) {
blinkAlternate = 0;
blink_delay = 100000;
}
}
else if (blinkAlternate == 0) {
blinkAlternate = 1;
blink_delay = 2000000;
Expand All @@ -1555,6 +1569,10 @@ void setupBlink(int numBlinks,int upTime, int downTime) {
void printRadioData() {
if (current_time - print_counter > 10000) {
print_counter = micros();
Serial.print(F(" FS: "));
Serial.print(isFailsafe);
Serial.print(F(" FsCount: "));
Serial.print(countFailsafe);
Serial.print(F(" CH1: "));
Serial.print(channel_1_pwm);
Serial.print(F(" CH2: "));
Expand Down