Fixed up isDataNew and implemented failsafe code in system manager #68
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It looks good from my end.
I'm curious why we're commenting out tthe watchdog, but once we clear that up it should be good.
There's a ton of merge conflicts, This might be my fault..... If you are around in person someday, we can go through them together. In the most cases with boardfiles, you'll justt take your version and overwrite the old one (because they're all autogenerated). I'll let an EFS ZP owner chime in here (Derek or Hardy) for good steps moving forward.
| @@ -125,7 +126,7 @@ int main(void) | |||
| MX_TIM5_Init(); | |||
| MX_ADC1_Init(); | |||
| MX_ICACHE_Init(); | |||
| MX_IWDG_Init(); | |||
| //MX_IWDG_Init(); | |||
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Any reason we needed to comment this out?
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Yeah I can uncomment that, Hardy just told us to comment it out before we started debugging. I think he said it would cause errors when we try to run the code.
| rcInputs_.roll == prevroll && | ||
| rcInputs_.pitch == prevpitch | ||
| }; | ||
| printf("Arm: %f\r\n", this->rcInputs_.arm); |
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I would take this out of our comitted code, or at the very least hide it under a IFDEF DEBUG flag
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Okay sounds good. I can meet up tomorrow at around 2:30 PM to go over some of the other merge conflicts.
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same this file don't need to be pushed
| @@ -266,6 +250,20 @@ void USART2_IRQHandler(void) | |||
| /* USER CODE END USART2_IRQn 1 */ | |||
| } | |||
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| /** | |||
| * @brief This function handles USART3 global interrupt / USART3 wake-up interrupt through EXTI line 28. | |||
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what is this UART3 used for out of curiosity?
| @@ -218,6 +219,13 @@ void SystemClock_Config(void) | |||
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| /* USER CODE BEGIN 4 */ | |||
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| int __io_putchar(int ch) | |||
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I saw two copies of this code, maybe we only need one of them? Deleting the one in this file?
| } | ||
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| watchdog_.refreshWatchdog(); // always hit the dog | ||
| // watchdog_.refreshWatchdog(); // always hit the dog |
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We should uncomment back this code because the watchdog was disabled temporally for the failsafe testing
Description
What was completed, changed, or updated?
in rcreceiver_datatypes.h file, I added a line of code to copy the isDataNew flag so that it is accurately updated in rcInputs_.
In system manager, I removed the old failsafe code that used looping and added implementation using isDataNew. I set the threshold to 75 disconnection counts before disarming the drone.
Why was this done (if applicable)?
To make the failsafe detection more efficient. Changing it from checking thousands of times to only checking 75.
Testing
What manual tests were used to validate the code?
Logic analyzer, debug mode on cube ide.
What unit tests were used to validate the code?
Documentation
Milestone number and name: Milestone 1
Link to Asana task:
Link to Confluence documentation:
Reminders
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Mention the PR in the appropriate discord channel