Make throttle failsafe depend on the failsafe threshold parameter. Make the parameter optional (no harm if not found).

4 files changed, 17 insertions, 15 deletions

diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index b860fc587..356fe44cd 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -264,10 +264,10 @@ controls_tick() {
 						scaled = -scaled;
 					}
 
-					if (mapped == 3 && (r_setup_features & PX4IO_P_SETUP_FEATURES_RC_FAIL_DETECT)) {
+					if (mapped == 3 && r_setup_rc_thr_failsafe) {
 						/* throttle failsafe detection */
-						if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < 800)) ||
-						    ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > 2200))) {
+						if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) ||
+						    ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) {
 							r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
 						} else {
 							r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index b69f68107..a978d483a 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -168,7 +168,6 @@
 #define PX4IO_P_SETUP_FEATURES_SBUS2_OUT	(1 << 1) /**< enable S.Bus v2 output */
 #define PX4IO_P_SETUP_FEATURES_PWM_RSSI		(1 << 2) /**< enable PWM RSSI parsing */
 #define PX4IO_P_SETUP_FEATURES_ADC_RSSI		(1 << 3) /**< enable ADC RSSI parsing */
-#define PX4IO_P_SETUP_FEATURES_RC_FAIL_DETECT	(1 << 4) /**< enable RC fail detection based on channel value */
 
 #define PX4IO_P_SETUP_ARMING			1	 /* arming controls */
 #define PX4IO_P_SETUP_ARMING_IO_ARM_OK		(1 << 0) /* OK to arm the IO side */
@@ -202,13 +201,15 @@ enum {							/* DSM bind states */
 	dsm_bind_send_pulses,
 	dsm_bind_reinit_uart
 };
- 					     /*	8 */
-#define PX4IO_P_SETUP_SET_DEBUG			9		/* debug level for IO board */
+						/* 8 */
+#define PX4IO_P_SETUP_SET_DEBUG			9	/* debug level for IO board */
 
-#define PX4IO_P_SETUP_REBOOT_BL		       10	/* reboot IO into bootloader */
-#define PX4IO_REBOOT_BL_MAGIC               14662       /* required argument for reboot (random) */
+#define PX4IO_P_SETUP_REBOOT_BL			10	/* reboot IO into bootloader */
+#define PX4IO_REBOOT_BL_MAGIC			14662	/* required argument for reboot (random) */
 
-#define PX4IO_P_SETUP_CRC		       11	/* get CRC of IO firmware */
+#define PX4IO_P_SETUP_CRC			11	/* get CRC of IO firmware */
+						/* 12 occupied by CRC */
+#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US	13	/**< the throttle failsafe pulse length in microseconds */
 
 /* autopilot control values, -10000..10000 */
 #define PX4IO_PAGE_CONTROLS			51		/**< actuator control groups, one after the other, 8 wide */
@@ -218,10 +219,10 @@ enum {							/* DSM bind states */
 #define PX4IO_P_CONTROLS_GROUP_3		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
 
 #define PX4IO_P_CONTROLS_GROUP_VALID		64
-#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0	(1 << 0) /* group 0 is valid / received */
-#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1	(1 << 1) /* group 1 is valid / received */
-#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2	(1 << 2) /* group 2 is valid / received */
-#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3	(1 << 3) /* group 3 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0	(1 << 0) /**< group 0 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1	(1 << 1) /**< group 1 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2	(1 << 2) /**< group 2 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3	(1 << 3) /**< group 3 is valid / received */
 
 /* raw text load to the mixer parser - ignores offset */
 #define PX4IO_PAGE_MIXERLOAD			52
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 54c5663a5..88ad79398 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -108,6 +108,7 @@ extern uint16_t			r_page_servo_disarmed[];	/* PX4IO_PAGE_DISARMED_PWM */
 #ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 #define r_setup_relays		r_page_setup[PX4IO_P_SETUP_RELAYS]
 #endif
+#define r_setup_rc_thr_failsafe	r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US];
 
 #define r_control_values	(&r_page_controls[0])
 
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 42b863b53..6752e7b4b 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -169,14 +169,14 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_SET_DEBUG]		= 0,
 	[PX4IO_P_SETUP_REBOOT_BL]		= 0,
 	[PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0,
+	[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = 0,
 };
 
 #ifdef CONFIG_ARCH_BOARD_PX4IO_V2
 #define PX4IO_P_SETUP_FEATURES_VALID	(PX4IO_P_SETUP_FEATURES_SBUS1_OUT | \
 					 PX4IO_P_SETUP_FEATURES_SBUS2_OUT | \
 					 PX4IO_P_SETUP_FEATURES_ADC_RSSI | \
-					 PX4IO_P_SETUP_FEATURES_PWM_RSSI | \
-					 PX4IO_P_SETUP_FEATURES_RC_FAIL_DETECT)
+					 PX4IO_P_SETUP_FEATURES_PWM_RSSI)
 #else
 #define PX4IO_P_SETUP_FEATURES_VALID	0
 #endif