OP-1216 modified alarms for manualcontrol/receiver to reflect new architecture

flight/modules/ManualControl/altitudehandler.c

@@ -122,7 +122,7 @@ void altitudeHandler(bool newinit)
 #else /* if defined(REVOLUTION) */
 void altitudeHandler(__attribute__((unused)) bool newinit)
 {
-    PIOS_Assert(0); // should not be called
+    AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); // should not be called
 }
 #endif // REVOLUTION
 

flight/modules/ManualControl/armhandler.c

@@ -64,16 +64,16 @@ static bool forcedDisArm(void);
  */
 void armHandler(bool newinit)
 {
-    static portTickType lastSysTime;
     static ArmState_t armState;
 
     if (newinit) {
         AccessoryDesiredInitialize();
-        lastSysTime = xTaskGetTickCount();
         setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
-        armState    = ARM_STATE_DISARMED;
+        armState = ARM_STATE_DISARMED;
     }
 
+    portTickType sysTime = xTaskGetTickCount();
+
     FlightModeSettingsData settings;
     FlightModeSettingsGet(&settings);
     ManualControlCommandData cmd;
@@ -190,7 +190,7 @@ void armHandler(bool newinit)
 
         // only allow arming if it's OK too
         if (manualArm && okToArm()) {
-            armedDisarmStart = lastSysTime;
+            armedDisarmStart = sysTime;
             armState = ARM_STATE_ARMING_MANUAL;
         }
         break;
@@ -198,7 +198,7 @@ void armHandler(bool newinit)
     case ARM_STATE_ARMING_MANUAL:
         setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING);
 
-        if (manualArm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.ArmingSequenceTime)) {
+        if (manualArm && (timeDifferenceMs(armedDisarmStart, sysTime) > settings.ArmingSequenceTime)) {
             armState = ARM_STATE_ARMED;
         } else if (!manualArm) {
             armState = ARM_STATE_DISARMED;
@@ -208,27 +208,27 @@ void armHandler(bool newinit)
     case ARM_STATE_ARMED:
         // When we get here, the throttle is low,
         // we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
-        armedDisarmStart = lastSysTime;
+        armedDisarmStart = sysTime;
         armState = ARM_STATE_DISARMING_TIMEOUT;
         setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
         break;
 
     case ARM_STATE_DISARMING_TIMEOUT:
         // We get here when armed while throttle low, even when the arming timeout is not enabled
-        if ((settings.ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.ArmedTimeout)) {
+        if ((settings.ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, sysTime) > settings.ArmedTimeout)) {
             armState = ARM_STATE_DISARMED;
         }
 
         // Switch to disarming due to manual control when needed
         if (manualDisarm) {
-            armedDisarmStart = lastSysTime;
+            armedDisarmStart = sysTime;
             armState = ARM_STATE_DISARMING_MANUAL;
         }
         break;
 
     case ARM_STATE_DISARMING_MANUAL:
         // arming switch disarms immediately,
-        if (manualDisarm && (armSwitch || (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.DisarmingSequenceTime))) {
+        if (manualDisarm && (armSwitch || (timeDifferenceMs(armedDisarmStart, sysTime) > settings.DisarmingSequenceTime))) {
             armState = ARM_STATE_DISARMED;
         } else if (!manualDisarm) {
             armState = ARM_STATE_ARMED;

flight/modules/ManualControl/manualcontrol.c

@@ -83,6 +83,14 @@ static controlHandler handler_ALTITUDE = {
     },
     .handler           = &altitudeHandler,
 };
+static controlHandler handler_AUTOTUNE = {
+    .controlChain      = {
+        .Stabilization = false,
+        .PathFollower  = false,
+        .PathPlanner   = false,
+    },
+    .handler           = NULL,
+};
 
 static controlHandler handler_PATHFOLLOWER = {
     .controlChain      = {
@@ -127,6 +135,8 @@ int32_t ManualControlStart()
     ManualControlSettingsConnectCallback(configurationUpdatedCb);
     ManualControlCommandConnectCallback(commandUpdatedCb);
 
+    // clear alarms
+    AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
 
     // Make sure unarmed on power up
     armHandler(true);
@@ -207,19 +217,19 @@ static void manualControlTask(void)
         handler = &handler_ALTITUDE;
         break;
     case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE:
-        handler = NULL;
+        handler = &handler_AUTOTUNE;
         break;
         // There is no default, so if a flightmode is forgotten the compiler can throw a warning!
     }
 
-    if (handler) {
+    bool newinit = false;
-        bool newinit = false;
+    if (flightStatus.FlightMode != newMode) {
-        if (flightStatus.FlightMode != newMode) {
+        flightStatus.ControlChain = handler->controlChain;
-            flightStatus.ControlChain = handler->controlChain;
+        flightStatus.FlightMode   = newMode;
-            flightStatus.FlightMode   = newMode;
+        FlightStatusSet(&flightStatus);
-            FlightStatusSet(&flightStatus);
+        newinit = true;
-            newinit = true;
+    }
-        }
+    if (handler->handler) {
         handler->handler(newinit);
     }
 }

flight/modules/ManualControl/pathfollowerhandler.c

@@ -120,7 +120,7 @@ void pathFollowerHandler(bool newinit)
 #else /* if defined(REVOLUTION) */
 void pathFollowerHandler(__attribute__((unused)) bool newinit)
 {
-    PIOS_Assert(0); // should not be called
+    AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); // should not be called
 }
 #endif // REVOLUTION
 

flight/modules/ManualControl/stabilizedhandler.c

@@ -80,6 +80,7 @@ void stabilizedHandler(bool newinit)
         break;
     default:
         // Major error, this should not occur because only enter this block when one of these is true
+        AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
         stab_settings = cast_struct_to_array(settings.Stabilization1Settings, settings.Stabilization1Settings.Roll);
         return;
     }

flight/modules/Receiver/receiver.c

@@ -260,7 +260,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
              && (settings.ChannelGroups.FlightMode >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
                  || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t)PIOS_RCVR_INVALID
                  || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t)PIOS_RCVR_NODRIVER))) {
-            AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
+            AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_CRITICAL);
             cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
             ManualControlCommandSet(&cmd);
 
@@ -324,32 +324,32 @@ static void receiverTask(__attribute__((unused)) void *parameters)
             if (settings.FailsafeFlightModeSwitchPosition >= 0 && settings.FailsafeFlightModeSwitchPosition < settings.FlightModeNumber) {
                 cmd.FlightModeSwitchPosition = (uint8_t)settings.FailsafeFlightModeSwitchPosition;
             }
-            AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+            AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
 
             AccessoryDesiredData accessory;
             // Set Accessory 0
             if (settings.ChannelGroups.Accessory0 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
                 accessory.AccessoryVal = settings.FailsafeChannel.Accessory0;
                 if (AccessoryDesiredInstSet(0, &accessory) != 0) {
-                    AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+                    AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
                 }
             }
             // Set Accessory 1
             if (settings.ChannelGroups.Accessory1 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
                 accessory.AccessoryVal = settings.FailsafeChannel.Accessory1;
                 if (AccessoryDesiredInstSet(1, &accessory) != 0) {
-                    AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+                    AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
                 }
             }
             // Set Accessory 2
             if (settings.ChannelGroups.Accessory2 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
                 accessory.AccessoryVal = settings.FailsafeChannel.Accessory2;
                 if (AccessoryDesiredInstSet(2, &accessory) != 0) {
-                    AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+                    AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
                 }
             }
         } else if (valid_input_detected) {
-            AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
+            AlarmsClear(SYSTEMALARMS_ALARM_RECEIVER);
 
             // Scale channels to -1 -> +1 range
             cmd.Roll     = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL];
@@ -411,7 +411,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
                 applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY0, &settings, dT);
 #endif
                 if (AccessoryDesiredInstSet(0, &accessory) != 0) {
-                    AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+                    AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
                 }
             }
             // Set Accessory 1
@@ -421,7 +421,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
                 applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY1, &settings, dT);
 #endif
                 if (AccessoryDesiredInstSet(1, &accessory) != 0) {
-                    AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+                    AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
                 }
             }
             // Set Accessory 2
@@ -432,7 +432,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
 #endif
 
                 if (AccessoryDesiredInstSet(2, &accessory) != 0) {
-                    AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+                    AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
                 }
             }
         }

ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg

@@ -701,7 +701,7 @@
     <rect
        inkscape:label="#rect4000-8-0-9"
        style="fill:#332d2d;fill-opacity:1;stroke:#ffffff;stroke-width:0.53149605;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
-       id="ManualControl"
+       id="Receiver"
        width="13.893178"
        height="56.637238"
        x="576.71594"
@@ -1135,7 +1135,7 @@
   </g>
   <g
      style="display:none"
-     inkscape:label="ManualControl-OK"
+     inkscape:label="Receiver-OK"
      id="layer36"
      inkscape:groupmode="layer">
     <rect
@@ -1143,14 +1143,14 @@
        x="576.71594"
        height="56.637238"
        width="13.893178"
-       id="ManualControl-OK"
+       id="Receiver-OK"
        style="fill:#04b629;fill-opacity:1;stroke:#ffffff;stroke-width:0.53149605;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
        inkscape:label="#rect4000-8-0-9"
        transform="translate(-497.66563,-344.28037)" />
   </g>
   <g
      style="display:none"
-     inkscape:label="ManualControl-Warning"
+     inkscape:label="Receiver-Warning"
      id="layer33"
      inkscape:groupmode="layer">
     <rect
@@ -1158,19 +1158,19 @@
        x="576.71594"
        height="56.637238"
        width="13.893178"
-       id="ManualControl-Warning"
+       id="Receiver-Warning"
        style="fill:#f1b907;fill-opacity:1;stroke:#ffffff;stroke-width:0.53149605;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
        inkscape:label="#rect4000-8-0-9"
        transform="translate(-497.66563,-344.28037)" />
   </g>
   <g
      style="display:none"
-     inkscape:label="ManualControl-Error"
+     inkscape:label="Receiver-Error"
      id="layer34"
      inkscape:groupmode="layer">
     <g
        transform="translate(78,0)"
-       id="ManualControl-Error"
+       id="Receiver-Error"
        style="stroke:#cf0e0e;stroke-opacity:1;display:inline"
        inkscape:label="#g3878">
       <path
@@ -1185,14 +1185,14 @@
   </g>
   <g
      style="display:none"
-     inkscape:label="ManualControl-Critical"
+     inkscape:label="Receiver-Critical"
      id="layer35"
      inkscape:groupmode="layer">
     <rect
        transform="translate(-497.66563,-344.28037)"
        inkscape:label="#rect4000-8-0-9"
        style="fill:#cf0e0e;fill-opacity:1;stroke:#ffffff;stroke-width:0.53149605;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
-       id="ManualControl-Critical"
+       id="Receiver-Critical"
        width="13.893178"
        height="56.637238"
        x="576.71594"

ground/openpilotgcs/src/plugins/systemhealth/systemhealth.qrc

@@ -1,8 +1,8 @@
 <RCC>
     <qresource prefix="/systemhealth">
         <file>html/Actuator-Critical.html</file>
-        <file>html/ManualControl-Critical.html</file>
+        <file>html/Receiver-Critical.html</file>
-        <file>html/ManualControl-Warning.html</file>
+        <file>html/Receiver-Warning.html</file>
         <file>html/CPU-Critical.html</file>
         <file>html/CPU-Warning.html</file>
         <file>html/FlightTime-Error.html</file>
@@ -29,8 +29,8 @@
     </qresource>
     <qresource prefix="/systemhealth" lang="fr">
         <file alias="html/Actuator-Critical.html">html/fr/Actuator-Critical.html</file>
-        <file alias="html/ManualControl-Critical.html">html/fr/ManualControl-Critical.html</file>
+        <file alias="html/Receiver-Critical.html">html/fr/Receiver-Critical.html</file>
-        <file alias="html/ManualControl-Warning.html">html/fr/ManualControl-Warning.html</file>
+        <file alias="html/Receiver-Warning.html">html/fr/Receiver-Warning.html</file>
         <file alias="html/CPU-Critical.html">html/fr/CPU-Critical.html</file>
         <file alias="html/CPU-Warning.html">html/fr/CPU-Warning.html</file>
         <file alias="html/FlightTime-Error.html">html/fr/FlightTime-Error.html</file>

shared/uavobjectdefinition/systemalarms.xml

@@ -10,6 +10,7 @@
 			<elementname>CPUOverload</elementname>
 			<elementname>EventSystem</elementname>
 			<elementname>Telemetry</elementname>
+			<elementname>Receiver</elementname>
 			<elementname>ManualControl</elementname>
 			<elementname>Actuator</elementname>
 			<elementname>Attitude</elementname>