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Improve rc failsafe logic

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Don't trigger failsafe if there's no RC at all
Use AUTO mode for descending, instead of STAB
Increase RC loss timeout and descend time
This commit is contained in:
Oleg Kalachev
2025-10-12 21:20:46 +03:00
parent 06ec5f3160
commit 7bee3d1751
1 changed files with 8 additions and 10 deletions
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18
flix/failsafe.ino
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@@ -3,8 +3,8 @@
// Fail-safe functions // Fail-safe functions
#define RC_LOSS_TIMEOUT 0.5 #define RC_LOSS_TIMEOUT 1
#define DESCEND_TIME 3.0 // time to descend from full throttle to zero #define DESCEND_TIME 10
extern double controlTime; extern double controlTime;
extern float controlRoll, controlPitch, controlThrottle, controlYaw; extern float controlRoll, controlPitch, controlThrottle, controlYaw;
@@ -16,7 +16,7 @@ void failsafe() {
// RC loss failsafe // RC loss failsafe
void rcLossFailsafe() { void rcLossFailsafe() {
if (mode == AUTO) return; if (controlTime == 0) return; // no RC at all
if (!armed) return; if (!armed) return;
if (t - controlTime > RC_LOSS_TIMEOUT) { if (t - controlTime > RC_LOSS_TIMEOUT) {
descend(); descend();
@@ -25,14 +25,12 @@ void rcLossFailsafe() {
// Smooth descend on RC lost // Smooth descend on RC lost
void descend() { void descend() {
mode = STAB; mode = AUTO;
controlRoll = 0; attitudeTarget = Quaternion();
controlPitch = 0; thrustTarget -= dt / DESCEND_TIME;
controlYaw = 0; if (thrustTarget < 0) {
controlThrottle -= dt / DESCEND_TIME; thrustTarget = 0;
if (controlThrottle < 0) {
armed = false; armed = false;
controlThrottle = 0;
} }
} }