src/main/fc/core.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <stdlib.h>
  24 #include <string.h>
  25 #include <math.h>
  26
  27 #include "platform.h"
  28
  29 #include "blackbox/blackbox.h"
  30 #include "blackbox/blackbox_fielddefs.h"
  31
  32 #include "build/debug.h"
  33
  34 #include "cli/cli.h"
  35
  36 #include "cms/cms.h"
  37
  38 #include "common/axis.h"
  39 #include "common/filter.h"
  40 #include "common/maths.h"
  41 #include "common/utils.h"
  42
  43 #include "config/config.h"
  44 #include "config/feature.h"
  45
  46 #include "drivers/dshot.h"
  47 #include "drivers/dshot_command.h"
  48 #include "drivers/light_led.h"
  49 #include "drivers/motor.h"
  50 #include "drivers/sound_beeper.h"
  51 #include "drivers/system.h"
  52 #include "drivers/time.h"
  53 #include "drivers/transponder_ir.h"
  54
  55 #include "fc/controlrate_profile.h"
  56 #include "fc/rc.h"
  57 #include "fc/rc_adjustments.h"
  58 #include "fc/rc_controls.h"
  59 #include "fc/runtime_config.h"
  60 #include "fc/stats.h"
  61
  62 #include "flight/failsafe.h"
  63 #include "flight/gps_rescue.h"
  64
  65 #if defined(USE_DYN_NOTCH_FILTER)
  66 #include "flight/dyn_notch_filter.h"
  67 #endif
  68
  69 #include "flight/imu.h"
  70 #include "flight/mixer.h"
  71 #include "flight/pid.h"
  72 #include "flight/position.h"
  73 #include "flight/rpm_filter.h"
  74 #include "flight/servos.h"
  75
  76 #include "io/beeper.h"
  77 #include "io/gps.h"
  78 #include "io/pidaudio.h"
  79 #include "io/serial.h"
  80 #include "io/statusindicator.h"
  81 #include "io/transponder_ir.h"
  82 #include "io/vtx_control.h"
  83 #include "io/vtx_rtc6705.h"
  84
  85 #include "msp/msp_serial.h"
  86
  87 #include "osd/osd.h"
  88
  89 #include "pg/motor.h"
  90 #include "pg/pg.h"
  91 #include "pg/pg_ids.h"
  92 #include "pg/rx.h"
  93
  94 #include "rx/rc_stats.h"
  95 #include "rx/rx.h"
  96
  97 #include "scheduler/scheduler.h"
  98
  99 #include "sensors/acceleration.h"
 100 #include "sensors/barometer.h"
 101 #include "sensors/battery.h"
 102 #include "sensors/boardalignment.h"
 103 #include "sensors/compass.h"
 104 #include "sensors/gyro.h"
 105
 106 #include "telemetry/telemetry.h"
 107
 108 #include "core.h"
 109
 110
 111 enum {
 112     ALIGN_GYRO = 0,
 113     ALIGN_ACCEL = 1,
 114     ALIGN_MAG = 2
 115 };
 116
 117 enum {
 118     ARMING_DELAYED_DISARMED = 0,
 119     ARMING_DELAYED_NORMAL = 1,
 120     ARMING_DELAYED_CRASHFLIP = 2,
 121     ARMING_DELAYED_LAUNCH_CONTROL = 3,
 122 };
 123
 124 #define GYRO_WATCHDOG_DELAY 80 //  delay for gyro sync
 125
 126 #ifdef USE_RUNAWAY_TAKEOFF
 127 #define RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD         600   // The pidSum threshold required to trigger - corresponds to a pidSum value of 60% (raw 600) in the blackbox viewer
 128 #define RUNAWAY_TAKEOFF_ACTIVATE_DELAY           75000 // (75ms) Time in microseconds where pidSum is above threshold to trigger
 129 #define RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT 15    // 15% - minimum stick deflection during deactivation phase
 130 #define RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT  100   // 10.0% - pidSum limit during deactivation phase
 131 #define RUNAWAY_TAKEOFF_GYRO_LIMIT_RP            15    // Roll/pitch 15 deg/sec threshold to prevent triggering during bench testing without props
 132 #define RUNAWAY_TAKEOFF_GYRO_LIMIT_YAW           50    // Yaw 50 deg/sec threshold to prevent triggering during bench testing without props
 133 #define RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT    75    // High throttle limit to accelerate deactivation (halves the deactivation delay)
 134
 135 #define DEBUG_RUNAWAY_TAKEOFF_ENABLED_STATE      0
 136 #define DEBUG_RUNAWAY_TAKEOFF_ACTIVATING_DELAY   1
 137 #define DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY 2
 138 #define DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME  3
 139
 140 #define DEBUG_RUNAWAY_TAKEOFF_TRUE  1
 141 #define DEBUG_RUNAWAY_TAKEOFF_FALSE 0
 142 #endif
 143
 144 #if defined(USE_GPS) || defined(USE_MAG)
 145 int16_t magHold;
 146 #endif
 147
 148 static FAST_DATA_ZERO_INIT uint8_t pidUpdateCounter;
 149
 150 static bool flipOverAfterCrashActive = false;
 151
 152 static timeUs_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
 153
 154 static int lastArmingDisabledReason = 0;
 155 static timeUs_t lastDisarmTimeUs;
 156 static int tryingToArm = ARMING_DELAYED_DISARMED;
 157
 158 #ifdef USE_RUNAWAY_TAKEOFF
 159 static timeUs_t runawayTakeoffDeactivateUs = 0;
 160 static timeUs_t runawayTakeoffAccumulatedUs = 0;
 161 static bool runawayTakeoffCheckDisabled = false;
 162 static timeUs_t runawayTakeoffTriggerUs = 0;
 163 static bool runawayTakeoffTemporarilyDisabled = false;
 164 #endif
 165
 166 #ifdef USE_LAUNCH_CONTROL
 167 static launchControlState_e launchControlState = LAUNCH_CONTROL_DISABLED;
 168
 169 const char * const osdLaunchControlModeNames[] = {
 170     "NORMAL",
 171     "PITCHONLY",
 172     "FULL"
 173 };
 174 #endif
 175
 176 PG_REGISTER_WITH_RESET_TEMPLATE(throttleCorrectionConfig_t, throttleCorrectionConfig, PG_THROTTLE_CORRECTION_CONFIG, 0);
 177
 178 PG_RESET_TEMPLATE(throttleCorrectionConfig_t, throttleCorrectionConfig,
 179     .throttle_correction_value = 0,      // could 10 with althold or 40 for fpv
 180     .throttle_correction_angle = 800     // could be 80.0 deg with atlhold or 45.0 for fpv
 181 );
 182
 183 static bool isCalibrating(void)
 184 {
 185     return (sensors(SENSOR_GYRO) && !gyroIsCalibrationComplete())
 186 #ifdef USE_ACC
 187         || (sensors(SENSOR_ACC) && !accIsCalibrationComplete())
 188 #endif
 189 #ifdef USE_BARO
 190         || (sensors(SENSOR_BARO) && !baroIsCalibrated())
 191 #endif
 192 #ifdef USE_MAG
 193         || (sensors(SENSOR_MAG) && !compassIsCalibrationComplete())
 194 #endif
 195         ;
 196 }
 197
 198 #ifdef USE_LAUNCH_CONTROL
 199 bool canUseLaunchControl(void)
 200 {
 201     if (!isFixedWing()
 202         && !isUsingSticksForArming()     // require switch arming for safety
 203         && IS_RC_MODE_ACTIVE(BOXLAUNCHCONTROL)
 204         && (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled())  // can't use when motors are stopped
 205         && !featureIsEnabled(FEATURE_3D) // pitch control is not 3D aware
 206         && (flightModeFlags == 0)) {     // don't want to use unless in acro mode
 207         return true;
 208     }
 209     return false;
 210 }
 211 #endif
 212
 213 void resetArmingDisabled(void)
 214 {
 215     lastArmingDisabledReason = 0;
 216 }
 217
 218 #ifdef USE_ACC
 219 static bool accNeedsCalibration(void)
 220 {
 221     if (sensors(SENSOR_ACC)) {
 222
 223         // Check to see if the ACC has already been calibrated
 224         if (accHasBeenCalibrated()) {
 225             return false;
 226         }
 227
 228         // We've determined that there's a detected ACC that has not
 229         // yet been calibrated. Check to see if anything is using the
 230         // ACC that would be affected by the lack of calibration.
 231
 232         // Check for any configured modes that use the ACC
 233         if (isModeActivationConditionPresent(BOXANGLE) ||
 234             isModeActivationConditionPresent(BOXHORIZON) ||
 235             isModeActivationConditionPresent(BOXGPSRESCUE) ||
 236             isModeActivationConditionPresent(BOXCAMSTAB) ||
 237             isModeActivationConditionPresent(BOXCALIB) ||
 238             isModeActivationConditionPresent(BOXACROTRAINER)) {
 239
 240             return true;
 241         }
 242
 243         // Launch Control only requires the ACC if a angle limit is set
 244         if (isModeActivationConditionPresent(BOXLAUNCHCONTROL) && currentPidProfile->launchControlAngleLimit) {
 245             return true;
 246         }
 247
 248 #ifdef USE_OSD
 249         // Check for any enabled OSD elements that need the ACC
 250         if (featureIsEnabled(FEATURE_OSD)) {
 251             if (osdNeedsAccelerometer()) {
 252                 return true;
 253             }
 254         }
 255 #endif
 256
 257 #ifdef USE_GPS_RESCUE
 258         // Check if failsafe will use GPS Rescue
 259         if (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE) {
 260             return true;
 261         }
 262 #endif
 263     }
 264
 265     return false;
 266 }
 267 #endif
 268
 269 void updateArmingStatus(void)
 270 {
 271     if (ARMING_FLAG(ARMED)) {
 272         LED0_ON;
 273     } else {
 274         // Check if the power on arming grace time has elapsed
 275         if ((getArmingDisableFlags() & ARMING_DISABLED_BOOT_GRACE_TIME) && (millis() >= systemConfig()->powerOnArmingGraceTime * 1000)
 276 #ifdef USE_DSHOT
 277             // We also need to prevent arming until it's possible to send DSHOT commands.
 278             // Otherwise if the initial arming is in crash-flip the motor direction commands
 279             // might not be sent.
 280             && (!isMotorProtocolDshot() || dshotStreamingCommandsAreEnabled())
 281 #endif
 282         ) {
 283             // If so, unset the grace time arming disable flag
 284             unsetArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
 285         }
 286
 287         // Clear the crash flip active status
 288         flipOverAfterCrashActive = false;
 289
 290         // If switch is used for arming then check it is not defaulting to on when the RX link recovers from a fault
 291         if (!isUsingSticksForArming()) {
 292             static bool hadRx = false;
 293             const bool haveRx = rxIsReceivingSignal();
 294
 295             const bool justGotRxBack = !hadRx && haveRx;
 296
 297             if (justGotRxBack && IS_RC_MODE_ACTIVE(BOXARM)) {
 298                 // If the RX has just started to receive a signal again and the arm switch is on, apply arming restriction
 299                 setArmingDisabled(ARMING_DISABLED_NOT_DISARMED);
 300             } else if (haveRx && !IS_RC_MODE_ACTIVE(BOXARM)) {
 301                 // If RX signal is OK and the arm switch is off, remove arming restriction
 302                 unsetArmingDisabled(ARMING_DISABLED_NOT_DISARMED);
 303             }
 304
 305             hadRx = haveRx;
 306         }
 307
 308         if (IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
 309             setArmingDisabled(ARMING_DISABLED_BOXFAILSAFE);
 310         } else {
 311             unsetArmingDisabled(ARMING_DISABLED_BOXFAILSAFE);
 312         }
 313
 314         if (calculateThrottleStatus() != THROTTLE_LOW) {
 315             setArmingDisabled(ARMING_DISABLED_THROTTLE);
 316         } else {
 317             unsetArmingDisabled(ARMING_DISABLED_THROTTLE);
 318         }
 319
 320         if (!isUpright() && !IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
 321             setArmingDisabled(ARMING_DISABLED_ANGLE);
 322         } else {
 323             unsetArmingDisabled(ARMING_DISABLED_ANGLE);
 324         }
 325
 326         if (getAverageSystemLoadPercent() > LOAD_PERCENTAGE_ONE) {
 327             setArmingDisabled(ARMING_DISABLED_LOAD);
 328         } else {
 329             unsetArmingDisabled(ARMING_DISABLED_LOAD);
 330         }
 331
 332         if (isCalibrating()) {
 333             setArmingDisabled(ARMING_DISABLED_CALIBRATING);
 334         } else {
 335             unsetArmingDisabled(ARMING_DISABLED_CALIBRATING);
 336         }
 337
 338         if (isModeActivationConditionPresent(BOXPREARM)) {
 339             if (IS_RC_MODE_ACTIVE(BOXPREARM) && !ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {
 340                 unsetArmingDisabled(ARMING_DISABLED_NOPREARM);
 341             } else {
 342                 setArmingDisabled(ARMING_DISABLED_NOPREARM);
 343             }
 344         }
 345
 346 #ifdef USE_GPS_RESCUE
 347         if (gpsRescueIsConfigured()) {
 348             if (gpsRescueConfig()->allowArmingWithoutFix || (STATE(GPS_FIX) && (gpsSol.numSat >= gpsRescueConfig()->minSats)) ||
 349             ARMING_FLAG(WAS_EVER_ARMED) || IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
 350                 unsetArmingDisabled(ARMING_DISABLED_GPS);
 351             } else {
 352                 setArmingDisabled(ARMING_DISABLED_GPS);
 353             }
 354             if (IS_RC_MODE_ACTIVE(BOXGPSRESCUE)) {
 355                 setArmingDisabled(ARMING_DISABLED_RESC);
 356             } else {
 357                 unsetArmingDisabled(ARMING_DISABLED_RESC);
 358             }
 359         }
 360 #endif
 361
 362 #ifdef USE_DSHOT_TELEMETRY
 363         // If Dshot Telemetry is enabled and any motor isn't providing telemetry, then disable arming
 364         if (motorConfig()->dev.useDshotTelemetry && !isDshotTelemetryActive()) {
 365             setArmingDisabled(ARMING_DISABLED_DSHOT_TELEM);
 366         } else {
 367             unsetArmingDisabled(ARMING_DISABLED_DSHOT_TELEM);
 368         }
 369 #endif
 370
 371 #ifdef USE_DSHOT_BITBANG
 372         if (isDshotBitbangActive(&motorConfig()->dev) && dshotBitbangGetStatus() != DSHOT_BITBANG_STATUS_OK) {
 373             setArmingDisabled(ARMING_DISABLED_DSHOT_BITBANG);
 374         } else {
 375             unsetArmingDisabled(ARMING_DISABLED_DSHOT_BITBANG);
 376         }
 377 #endif
 378
 379         if (IS_RC_MODE_ACTIVE(BOXPARALYZE)) {
 380             setArmingDisabled(ARMING_DISABLED_PARALYZE);
 381         }
 382
 383 #ifdef USE_ACC
 384         if (accNeedsCalibration()) {
 385             setArmingDisabled(ARMING_DISABLED_ACC_CALIBRATION);
 386         } else {
 387             unsetArmingDisabled(ARMING_DISABLED_ACC_CALIBRATION);
 388         }
 389 #endif
 390
 391         if (!isMotorProtocolEnabled()) {
 392             setArmingDisabled(ARMING_DISABLED_MOTOR_PROTOCOL);
 393         }
 394
 395         if (!isUsingSticksForArming()) {
 396             if (!IS_RC_MODE_ACTIVE(BOXARM)) {
 397 #ifdef USE_RUNAWAY_TAKEOFF
 398                 unsetArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF);
 399 #endif
 400                 unsetArmingDisabled(ARMING_DISABLED_CRASH_DETECTED);
 401             }
 402
 403             /* Ignore ARMING_DISABLED_CALIBRATING if we are going to calibrate gyro on first arm */
 404             bool ignoreGyro = armingConfig()->gyro_cal_on_first_arm
 405                 && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_CALIBRATING));
 406
 407             /* Ignore ARMING_DISABLED_THROTTLE (once arm switch is on) if we are in 3D mode */
 408             bool ignoreThrottle = featureIsEnabled(FEATURE_3D)
 409                  && !IS_RC_MODE_ACTIVE(BOX3D)
 410                  && !flight3DConfig()->switched_mode3d
 411                  && !(getArmingDisableFlags() & ~(ARMING_DISABLED_ARM_SWITCH | ARMING_DISABLED_THROTTLE));
 412
 413             // If arming is disabled and the ARM switch is on
 414             if (isArmingDisabled()
 415                 && !ignoreGyro
 416                 && !ignoreThrottle
 417                 && IS_RC_MODE_ACTIVE(BOXARM)) {
 418                 setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
 419             } else if (!IS_RC_MODE_ACTIVE(BOXARM)) {
 420                 unsetArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
 421             }
 422         }
 423
 424         if (isArmingDisabled()) {
 425             warningLedFlash();
 426         } else {
 427             warningLedDisable();
 428         }
 429
 430         warningLedUpdate();
 431     }
 432 }
 433
 434 void disarm(flightLogDisarmReason_e reason)
 435 {
 436     if (ARMING_FLAG(ARMED)) {
 437         if (!flipOverAfterCrashActive) {
 438             ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
 439         }
 440         DISABLE_ARMING_FLAG(ARMED);
 441         lastDisarmTimeUs = micros();
 442
 443 #ifdef USE_OSD
 444         if (IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || isLaunchControlActive()) {
 445             osdSuppressStats(true);
 446         }
 447 #endif
 448
 449 #ifdef USE_BLACKBOX
 450         flightLogEvent_disarm_t eventData;
 451         eventData.reason = reason;
 452         blackboxLogEvent(FLIGHT_LOG_EVENT_DISARM, (flightLogEventData_t*)&eventData);
 453
 454         if (blackboxConfig()->device && blackboxConfig()->mode != BLACKBOX_MODE_ALWAYS_ON) { // Close the log upon disarm except when logging mode is ALWAYS ON
 455             blackboxFinish();
 456         }
 457 #else
 458         UNUSED(reason);
 459 #endif
 460         BEEP_OFF;
 461 #ifdef USE_DSHOT
 462         if (isMotorProtocolDshot() && flipOverAfterCrashActive && !featureIsEnabled(FEATURE_3D)) {
 463             dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
 464         }
 465 #endif
 466 #ifdef USE_PERSISTENT_STATS
 467         if (!flipOverAfterCrashActive) {
 468             statsOnDisarm();
 469         }
 470 #endif
 471
 472         flipOverAfterCrashActive = false;
 473
 474         // if ARMING_DISABLED_RUNAWAY_TAKEOFF is set then we want to play it's beep pattern instead
 475         if (!(getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
 476             beeper(BEEPER_DISARMING);      // emit disarm tone
 477         }
 478     }
 479 }
 480
 481 void tryArm(void)
 482 {
 483     if (armingConfig()->gyro_cal_on_first_arm) {
 484         gyroStartCalibration(true);
 485     }
 486
 487     updateArmingStatus();
 488
 489     if (!isArmingDisabled()) {
 490         if (ARMING_FLAG(ARMED)) {
 491             return;
 492         }
 493
 494         const timeUs_t currentTimeUs = micros();
 495
 496 #ifdef USE_DSHOT
 497         if (cmpTimeUs(currentTimeUs, getLastDshotBeaconCommandTimeUs()) < DSHOT_BEACON_GUARD_DELAY_US) {
 498             if (tryingToArm == ARMING_DELAYED_DISARMED) {
 499                 if (IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
 500                     tryingToArm = ARMING_DELAYED_CRASHFLIP;
 501 #ifdef USE_LAUNCH_CONTROL
 502                 } else if (canUseLaunchControl()) {
 503                     tryingToArm = ARMING_DELAYED_LAUNCH_CONTROL;
 504 #endif
 505                 } else {
 506                     tryingToArm = ARMING_DELAYED_NORMAL;
 507                 }
 508             }
 509             return;
 510         }
 511
 512         if (isMotorProtocolDshot()) {
 513 #if defined(USE_ESC_SENSOR) && defined(USE_DSHOT_TELEMETRY)
 514             // Try to activate extended DSHOT telemetry only if no esc sensor exists and dshot telemetry is active
 515             if (!featureIsEnabled(FEATURE_ESC_SENSOR) && motorConfig()->dev.useDshotTelemetry) {
 516                 dshotCleanTelemetryData();
 517                 if (motorConfig()->dev.useDshotEdt) {
 518                     dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE, DSHOT_CMD_TYPE_INLINE);
 519                 }
 520             }
 521 #endif
 522
 523             if (isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
 524                 // Set motor spin direction
 525                 if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
 526                     flipOverAfterCrashActive = false;
 527                     if (!featureIsEnabled(FEATURE_3D)) {
 528                         dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
 529                     }
 530                 } else {
 531                     flipOverAfterCrashActive = true;
 532 #ifdef USE_RUNAWAY_TAKEOFF
 533                     runawayTakeoffCheckDisabled = false;
 534 #endif
 535                     if (!featureIsEnabled(FEATURE_3D)) {
 536                         dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, DSHOT_CMD_TYPE_INLINE);
 537                     }
 538                 }
 539             }
 540         }
 541 #endif
 542
 543 #ifdef USE_LAUNCH_CONTROL
 544         if (!flipOverAfterCrashActive && (canUseLaunchControl() || (tryingToArm == ARMING_DELAYED_LAUNCH_CONTROL))) {
 545             if (launchControlState == LAUNCH_CONTROL_DISABLED) {  // only activate if it hasn't already been triggered
 546                 launchControlState = LAUNCH_CONTROL_ACTIVE;
 547             }
 548         }
 549 #endif
 550
 551 #ifdef USE_OSD
 552         osdSuppressStats(false);
 553 #endif
 554 #ifdef USE_RPM_LIMIT
 555         mixerResetRpmLimiter();
 556 #endif
 557         ENABLE_ARMING_FLAG(ARMED);
 558
 559 #ifdef USE_RC_STATS
 560         NotifyRcStatsArming();
 561 #endif
 562
 563         resetTryingToArm();
 564
 565 #ifdef USE_ACRO_TRAINER
 566         pidAcroTrainerInit();
 567 #endif // USE_ACRO_TRAINER
 568
 569         if (isModeActivationConditionPresent(BOXPREARM)) {
 570             ENABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
 571         }
 572         imuQuaternionHeadfreeOffsetSet();
 573
 574 #if defined(USE_DYN_NOTCH_FILTER)
 575         resetMaxFFT();
 576 #endif
 577
 578         disarmAt = currentTimeUs + armingConfig()->auto_disarm_delay * 1e6;   // start disarm timeout, will be extended when throttle is nonzero
 579
 580         lastArmingDisabledReason = 0;
 581
 582 #ifdef USE_GPS
 583         //beep to indicate arming
 584         if (featureIsEnabled(FEATURE_GPS)) {
 585             GPS_reset_home_position();
 586
 587             if (STATE(GPS_FIX) && gpsSol.numSat >= gpsRescueConfig()->minSats) {
 588                 beeper(BEEPER_ARMING_GPS_FIX);
 589             } else {
 590                 beeper(BEEPER_ARMING_GPS_NO_FIX);
 591             }
 592         } else {
 593             beeper(BEEPER_ARMING);
 594         }
 595 #else
 596         beeper(BEEPER_ARMING);
 597 #endif
 598
 599 #ifdef USE_PERSISTENT_STATS
 600         statsOnArm();
 601 #endif
 602
 603 #ifdef USE_RUNAWAY_TAKEOFF
 604         runawayTakeoffDeactivateUs = 0;
 605         runawayTakeoffAccumulatedUs = 0;
 606         runawayTakeoffTriggerUs = 0;
 607 #endif
 608     } else {
 609        resetTryingToArm();
 610         if (!isFirstArmingGyroCalibrationRunning()) {
 611             int armingDisabledReason = ffs(getArmingDisableFlags());
 612             if (lastArmingDisabledReason != armingDisabledReason) {
 613                 lastArmingDisabledReason = armingDisabledReason;
 614
 615                 beeperWarningBeeps(armingDisabledReason);
 616             }
 617         }
 618     }
 619 }
 620
 621 // Automatic ACC Offset Calibration
 622 bool AccInflightCalibrationArmed = false;
 623 bool AccInflightCalibrationMeasurementDone = false;
 624 bool AccInflightCalibrationSavetoEEProm = false;
 625 bool AccInflightCalibrationActive = false;
 626 uint16_t InflightcalibratingA = 0;
 627
 628 void handleInflightCalibrationStickPosition(void)
 629 {
 630     if (AccInflightCalibrationMeasurementDone) {
 631         // trigger saving into eeprom after landing
 632         AccInflightCalibrationMeasurementDone = false;
 633         AccInflightCalibrationSavetoEEProm = true;
 634     } else {
 635         AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
 636         if (AccInflightCalibrationArmed) {
 637             beeper(BEEPER_ACC_CALIBRATION);
 638         } else {
 639             beeper(BEEPER_ACC_CALIBRATION_FAIL);
 640         }
 641     }
 642 }
 643
 644 static void updateInflightCalibrationState(void)
 645 {
 646     if (AccInflightCalibrationArmed && ARMING_FLAG(ARMED) && rcData[THROTTLE] > rxConfig()->mincheck && !IS_RC_MODE_ACTIVE(BOXARM)) {   // Copter is airborne and you are turning it off via boxarm : start measurement
 647         InflightcalibratingA = 50;
 648         AccInflightCalibrationArmed = false;
 649     }
 650     if (IS_RC_MODE_ACTIVE(BOXCALIB)) {      // Use the Calib Option to activate : Calib = TRUE measurement started, Land and Calib = 0 measurement stored
 651         if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
 652             InflightcalibratingA = 50;
 653         AccInflightCalibrationActive = true;
 654     } else if (AccInflightCalibrationMeasurementDone && !ARMING_FLAG(ARMED)) {
 655         AccInflightCalibrationMeasurementDone = false;
 656         AccInflightCalibrationSavetoEEProm = true;
 657     }
 658 }
 659
 660 #if defined(USE_GPS) || defined(USE_MAG)
 661 static void updateMagHold(void)
 662 {
 663     if (fabsf(rcCommand[YAW]) < 15 && FLIGHT_MODE(MAG_MODE)) {
 664         int16_t dif = DECIDEGREES_TO_DEGREES(attitude.values.yaw) - magHold;
 665         if (dif <= -180)
 666             dif += 360;
 667         if (dif >= +180)
 668             dif -= 360;
 669         dif *= -GET_DIRECTION(rcControlsConfig()->yaw_control_reversed);
 670         if (isUpright()) {
 671             rcCommand[YAW] -= dif * currentPidProfile->pid[PID_MAG].P / 30;    // 18 deg
 672         }
 673     } else
 674         magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
 675 }
 676 #endif
 677
 678 #ifdef USE_VTX_CONTROL
 679 static bool canUpdateVTX(void)
 680 {
 681 #ifdef USE_VTX_RTC6705
 682     return vtxRTC6705CanUpdate();
 683 #endif
 684     return true;
 685 }
 686 #endif
 687
 688 #if defined(USE_RUNAWAY_TAKEOFF) || defined(USE_GPS_RESCUE)
 689 // determine if the R/P/Y stick deflection exceeds the specified limit - integer math is good enough here.
 690 bool areSticksActive(uint8_t stickPercentLimit)
 691 {
 692     for (int axis = FD_ROLL; axis <= FD_YAW; axis ++) {
 693         if (getRcDeflectionAbs(axis) * 100.f >= stickPercentLimit) {
 694             return true;
 695         }
 696     }
 697     return false;
 698 }
 699 #endif
 700
 701 #ifdef USE_RUNAWAY_TAKEOFF
 702 // allow temporarily disabling runaway takeoff prevention if we are connected
 703 // to the configurator and the ARMING_DISABLED_MSP flag is cleared.
 704 void runawayTakeoffTemporaryDisable(uint8_t disableFlag)
 705 {
 706     runawayTakeoffTemporarilyDisabled = disableFlag;
 707 }
 708 #endif
 709
 710
 711 // calculate the throttle stick percent - integer math is good enough here.
 712 // returns negative values for reversed thrust in 3D mode
 713 int8_t calculateThrottlePercent(void)
 714 {
 715     uint8_t ret = 0;
 716     int channelData = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
 717
 718     if (featureIsEnabled(FEATURE_3D)
 719         && !IS_RC_MODE_ACTIVE(BOX3D)
 720         && !flight3DConfig()->switched_mode3d) {
 721
 722         if (channelData > (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) {
 723             ret = ((channelData - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle) * 100) / (PWM_RANGE_MAX - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle);
 724         } else if (channelData < (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle)) {
 725             ret = -((rxConfig()->midrc - flight3DConfig()->deadband3d_throttle - channelData) * 100) / (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle - PWM_RANGE_MIN);
 726         }
 727     } else {
 728         ret = constrain(((channelData - rxConfig()->mincheck) * 100) / (PWM_RANGE_MAX - rxConfig()->mincheck), 0, 100);
 729         if (featureIsEnabled(FEATURE_3D)
 730             && IS_RC_MODE_ACTIVE(BOX3D)
 731             && flight3DConfig()->switched_mode3d) {
 732
 733             ret = -ret;  // 3D on a switch is active
 734         }
 735     }
 736     return ret;
 737 }
 738
 739 uint8_t calculateThrottlePercentAbs(void)
 740 {
 741     return abs(calculateThrottlePercent());
 742 }
 743
 744 static bool airmodeIsActivated;
 745
 746 bool isAirmodeActivated(void)
 747 {
 748     return airmodeIsActivated;
 749 }
 750
 751
 752 /*
 753  * processRx called from taskUpdateRxMain
 754  */
 755 bool processRx(timeUs_t currentTimeUs)
 756 {
 757     if (!calculateRxChannelsAndUpdateFailsafe(currentTimeUs)) {
 758         return false;
 759     }
 760
 761     updateRcRefreshRate(currentTimeUs);
 762
 763     // in 3D mode, we need to be able to disarm by switch at any time
 764     if (featureIsEnabled(FEATURE_3D)) {
 765         if (!IS_RC_MODE_ACTIVE(BOXARM))
 766             disarm(DISARM_REASON_SWITCH);
 767     }
 768
 769     updateRSSI(currentTimeUs);
 770
 771     if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
 772         failsafeStartMonitoring();
 773     }
 774
 775     const bool throttleActive = calculateThrottleStatus() != THROTTLE_LOW;
 776     const uint8_t throttlePercent = calculateThrottlePercentAbs();
 777     const bool launchControlActive = isLaunchControlActive();
 778
 779     if (airmodeIsEnabled() && ARMING_FLAG(ARMED) && !launchControlActive) {
 780         // once throttle exceeds activate threshold, airmode latches active until disarm
 781         if (throttlePercent >= rxConfig()->airModeActivateThreshold) {
 782             airmodeIsActivated = true;
 783         }
 784     } else {
 785         airmodeIsActivated = false;
 786     }
 787
 788     if (ARMING_FLAG(ARMED) && (airmodeIsActivated || throttleActive || launchControlActive || isFixedWing())) {
 789         pidSetItermReset(false);
 790         pidStabilisationState(PID_STABILISATION_ON);
 791     } else {
 792         pidSetItermReset(true);
 793         pidStabilisationState(currentPidProfile->pidAtMinThrottle ? PID_STABILISATION_ON : PID_STABILISATION_OFF);
 794     }
 795
 796 #ifdef USE_RUNAWAY_TAKEOFF
 797     // If runaway_takeoff_prevention is enabled, accumulate the amount of time that throttle
 798     // is above runaway_takeoff_deactivate_throttle with the any of the R/P/Y sticks deflected
 799     // to at least runaway_takeoff_stick_percent percent while the pidSum on all axis is kept low.
 800     // Once the amount of accumulated time exceeds runaway_takeoff_deactivate_delay then disable
 801     // prevention for the remainder of the battery.
 802
 803     if (ARMING_FLAG(ARMED)
 804         && pidConfig()->runaway_takeoff_prevention
 805         && !runawayTakeoffCheckDisabled
 806         && !flipOverAfterCrashActive
 807         && !runawayTakeoffTemporarilyDisabled
 808         && !isFixedWing()) {
 809
 810         // Determine if we're in "flight"
 811         //   - motors running
 812         //   - throttle over runaway_takeoff_deactivate_throttle_percent
 813         //   - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
 814         //   - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
 815         bool inStableFlight = false;
 816         if (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || throttleActive) { // are motors running?
 817             const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
 818             const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
 819             if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))
 820                 && (fabsf(pidData[FD_PITCH].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
 821                 && (fabsf(pidData[FD_ROLL].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
 822                 && (fabsf(pidData[FD_YAW].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)) {
 823
 824                 inStableFlight = true;
 825                 if (runawayTakeoffDeactivateUs == 0) {
 826                     runawayTakeoffDeactivateUs = currentTimeUs;
 827                 }
 828             }
 829         }
 830
 831         // If we're in flight, then accumulate the time and deactivate once it exceeds runaway_takeoff_deactivate_delay milliseconds
 832         if (inStableFlight) {
 833             if (runawayTakeoffDeactivateUs == 0) {
 834                 runawayTakeoffDeactivateUs = currentTimeUs;
 835             }
 836             uint16_t deactivateDelay = pidConfig()->runaway_takeoff_deactivate_delay;
 837             // at high throttle levels reduce deactivation delay by 50%
 838             if (throttlePercent >= RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT) {
 839                 deactivateDelay = deactivateDelay / 2;
 840             }
 841             if ((cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) > deactivateDelay * 1000) {
 842                 runawayTakeoffCheckDisabled = true;
 843             }
 844
 845         } else {
 846             if (runawayTakeoffDeactivateUs != 0) {
 847                 runawayTakeoffAccumulatedUs += cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs);
 848             }
 849             runawayTakeoffDeactivateUs = 0;
 850         }
 851         if (runawayTakeoffDeactivateUs == 0) {
 852             DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
 853             DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, runawayTakeoffAccumulatedUs / 1000);
 854         } else {
 855             DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_TRUE);
 856             DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, (cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) / 1000);
 857         }
 858     } else {
 859         DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
 860         DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, DEBUG_RUNAWAY_TAKEOFF_FALSE);
 861     }
 862 #endif
 863
 864 #ifdef USE_LAUNCH_CONTROL
 865     if (ARMING_FLAG(ARMED)) {
 866         if (launchControlActive && (throttlePercent > currentPidProfile->launchControlThrottlePercent)) {
 867             // throttle limit trigger reached, launch triggered
 868             // reset the iterms as they may be at high values from holding the launch position
 869             launchControlState = LAUNCH_CONTROL_TRIGGERED;
 870             pidResetIterm();
 871         }
 872     } else {
 873         if (launchControlState == LAUNCH_CONTROL_TRIGGERED) {
 874             // If trigger mode is MULTIPLE then reset the state when disarmed
 875             // and the mode switch is turned off.
 876             // For trigger mode SINGLE we never reset the state and only a single
 877             // launch is allowed until a reboot.
 878             if (currentPidProfile->launchControlAllowTriggerReset && !IS_RC_MODE_ACTIVE(BOXLAUNCHCONTROL)) {
 879                 launchControlState = LAUNCH_CONTROL_DISABLED;
 880             }
 881         } else {
 882             launchControlState = LAUNCH_CONTROL_DISABLED;
 883         }
 884     }
 885 #endif
 886
 887     return true;
 888 }
 889
 890 void processRxModes(timeUs_t currentTimeUs)
 891 {
 892     static bool armedBeeperOn = false;
 893 #ifdef USE_TELEMETRY
 894     static bool sharedPortTelemetryEnabled = false;
 895 #endif
 896     const throttleStatus_e throttleStatus = calculateThrottleStatus();
 897
 898     // When armed and motors aren't spinning, do beeps and then disarm
 899     // board after delay so users without buzzer won't lose fingers.
 900     // mixTable constrains motor commands, so checking  throttleStatus is enough
 901     const timeUs_t autoDisarmDelayUs = armingConfig()->auto_disarm_delay * 1e6;
 902     if (ARMING_FLAG(ARMED)
 903         && featureIsEnabled(FEATURE_MOTOR_STOP)
 904         && !isFixedWing()
 905         && !featureIsEnabled(FEATURE_3D)
 906         && !airmodeIsEnabled()
 907         && !FLIGHT_MODE(GPS_RESCUE_MODE)  // disable auto-disarm when GPS Rescue is active
 908     ) {
 909         if (isUsingSticksForArming()) {
 910             if (throttleStatus == THROTTLE_LOW) {
 911                 if ((autoDisarmDelayUs > 0) && (currentTimeUs > disarmAt)) {
 912                     // auto-disarm configured and delay is over
 913                     disarm(DISARM_REASON_THROTTLE_TIMEOUT);
 914                     armedBeeperOn = false;
 915                 } else {
 916                     // still armed; do warning beeps while armed
 917                     beeper(BEEPER_ARMED);
 918                     armedBeeperOn = true;
 919                 }
 920             } else {
 921                 // throttle is not low - extend disarm time
 922                 disarmAt = currentTimeUs + autoDisarmDelayUs;
 923
 924                 if (armedBeeperOn) {
 925                     beeperSilence();
 926                     armedBeeperOn = false;
 927                 }
 928             }
 929         } else {
 930             // arming is via AUX switch; beep while throttle low
 931             if (throttleStatus == THROTTLE_LOW) {
 932                 beeper(BEEPER_ARMED);
 933                 armedBeeperOn = true;
 934             } else if (armedBeeperOn) {
 935                 beeperSilence();
 936                 armedBeeperOn = false;
 937             }
 938         }
 939     } else {
 940         disarmAt = currentTimeUs + autoDisarmDelayUs;  // extend auto-disarm timer
 941     }
 942
 943     if (!(IS_RC_MODE_ACTIVE(BOXPARALYZE) && !ARMING_FLAG(ARMED))
 944 #ifdef USE_CMS
 945         && !cmsInMenu
 946 #endif
 947         ) {
 948         processRcStickPositions();
 949     }
 950
 951     if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
 952         updateInflightCalibrationState();
 953     }
 954
 955     updateActivatedModes();
 956
 957 #ifdef USE_DSHOT
 958     /* Enable beep warning when the crash flip mode is active */
 959     if (flipOverAfterCrashActive) {
 960         beeper(BEEPER_CRASH_FLIP_MODE);
 961     }
 962 #endif
 963
 964     if (!cliMode && !(IS_RC_MODE_ACTIVE(BOXPARALYZE) && !ARMING_FLAG(ARMED))) {
 965         processRcAdjustments(currentControlRateProfile);
 966     }
 967
 968     bool canUseHorizonMode = true;
 969     if ((IS_RC_MODE_ACTIVE(BOXANGLE) || failsafeIsActive()) && (sensors(SENSOR_ACC))) {
 970         // bumpless transfer to Level mode
 971         canUseHorizonMode = false;
 972
 973         if (!FLIGHT_MODE(ANGLE_MODE)) {
 974             ENABLE_FLIGHT_MODE(ANGLE_MODE);
 975         }
 976     } else {
 977         DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
 978     }
 979
 980     if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
 981
 982         DISABLE_FLIGHT_MODE(ANGLE_MODE);
 983
 984         if (!FLIGHT_MODE(HORIZON_MODE)) {
 985             ENABLE_FLIGHT_MODE(HORIZON_MODE);
 986         }
 987     } else {
 988         DISABLE_FLIGHT_MODE(HORIZON_MODE);
 989     }
 990
 991 #ifdef USE_GPS_RESCUE
 992     if (ARMING_FLAG(ARMED) && (IS_RC_MODE_ACTIVE(BOXGPSRESCUE) || (failsafeIsActive() && failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE))) {
 993         if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
 994             ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
 995         }
 996     } else {
 997         DISABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
 998     }
 999 #endif
1000
1001     if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
1002         LED1_ON;
1003         // increase frequency of attitude task to reduce drift when in angle or horizon mode
1004         rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(acc.sampleRateHz / (float)imuConfig()->imu_process_denom));
1005     } else {
1006         LED1_OFF;
1007         rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(100));
1008     }
1009
1010     if (!IS_RC_MODE_ACTIVE(BOXPREARM) && ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {
1011         DISABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
1012     }
1013
1014 #if defined(USE_ACC) || defined(USE_MAG)
1015     if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
1016 #if defined(USE_GPS) || defined(USE_MAG)
1017         if (IS_RC_MODE_ACTIVE(BOXMAG)) {
1018             if (!FLIGHT_MODE(MAG_MODE)) {
1019                 ENABLE_FLIGHT_MODE(MAG_MODE);
1020                 magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
1021             }
1022         } else {
1023             DISABLE_FLIGHT_MODE(MAG_MODE);
1024         }
1025 #endif
1026         if (IS_RC_MODE_ACTIVE(BOXHEADFREE) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
1027             if (!FLIGHT_MODE(HEADFREE_MODE)) {
1028                 ENABLE_FLIGHT_MODE(HEADFREE_MODE);
1029             }
1030         } else {
1031             DISABLE_FLIGHT_MODE(HEADFREE_MODE);
1032         }
1033         if (IS_RC_MODE_ACTIVE(BOXHEADADJ) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
1034             if (imuQuaternionHeadfreeOffsetSet()) {
1035                beeper(BEEPER_RX_SET);
1036             }
1037         }
1038     }
1039 #endif
1040
1041     if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
1042         ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
1043     } else {
1044         DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
1045     }
1046
1047     if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
1048         DISABLE_FLIGHT_MODE(HEADFREE_MODE);
1049     }
1050
1051 #ifdef USE_TELEMETRY
1052     if (featureIsEnabled(FEATURE_TELEMETRY)) {
1053         bool enableSharedPortTelemetry = (!isModeActivationConditionPresent(BOXTELEMETRY) && ARMING_FLAG(ARMED)) || (isModeActivationConditionPresent(BOXTELEMETRY) && IS_RC_MODE_ACTIVE(BOXTELEMETRY));
1054         if (enableSharedPortTelemetry && !sharedPortTelemetryEnabled) {
1055             mspSerialReleaseSharedTelemetryPorts();
1056             telemetryCheckState();
1057
1058             sharedPortTelemetryEnabled = true;
1059         } else if (!enableSharedPortTelemetry && sharedPortTelemetryEnabled) {
1060             // the telemetry state must be checked immediately so that shared serial ports are released.
1061             telemetryCheckState();
1062             mspSerialAllocatePorts();
1063
1064             sharedPortTelemetryEnabled = false;
1065         }
1066     }
1067 #endif
1068
1069 #ifdef USE_VTX_CONTROL
1070     vtxUpdateActivatedChannel();
1071
1072     if (canUpdateVTX()) {
1073         handleVTXControlButton();
1074     }
1075 #endif
1076
1077 #ifdef USE_ACRO_TRAINER
1078     pidSetAcroTrainerState(IS_RC_MODE_ACTIVE(BOXACROTRAINER) && sensors(SENSOR_ACC));
1079 #endif // USE_ACRO_TRAINER
1080
1081 #ifdef USE_RC_SMOOTHING_FILTER
1082     if (ARMING_FLAG(ARMED) && !rcSmoothingInitializationComplete() && rxConfig()->rc_smoothing_mode) {
1083         beeper(BEEPER_RC_SMOOTHING_INIT_FAIL);
1084     }
1085 #endif
1086
1087     pidSetAntiGravityState(IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || featureIsEnabled(FEATURE_ANTI_GRAVITY));
1088 }
1089
1090 static FAST_CODE_NOINLINE void subTaskPidController(timeUs_t currentTimeUs)
1091 {
1092     uint32_t startTime = 0;
1093     if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
1094     // PID - note this is function pointer set by setPIDController()
1095     pidController(currentPidProfile, currentTimeUs);
1096     DEBUG_SET(DEBUG_PIDLOOP, 1, micros() - startTime);
1097
1098 #ifdef USE_RUNAWAY_TAKEOFF
1099     // Check to see if runaway takeoff detection is active (anti-taz), the pidSum is over the threshold,
1100     // and gyro rate for any axis is above the limit for at least the activate delay period.
1101     // If so, disarm for safety
1102     if (ARMING_FLAG(ARMED)
1103         && !isFixedWing()
1104         && pidConfig()->runaway_takeoff_prevention
1105         && !runawayTakeoffCheckDisabled
1106         && !flipOverAfterCrashActive
1107         && !runawayTakeoffTemporarilyDisabled
1108         && !FLIGHT_MODE(GPS_RESCUE_MODE)   // disable Runaway Takeoff triggering if GPS Rescue is active
1109         && (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || (calculateThrottleStatus() != THROTTLE_LOW))) {
1110
1111         if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
1112             || (fabsf(pidData[FD_ROLL].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
1113             || (fabsf(pidData[FD_YAW].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD))
1114             && ((gyroAbsRateDps(FD_PITCH) > RUNAWAY_TAKEOFF_GYRO_LIMIT_RP)
1115                 || (gyroAbsRateDps(FD_ROLL) > RUNAWAY_TAKEOFF_GYRO_LIMIT_RP)
1116                 || (gyroAbsRateDps(FD_YAW) > RUNAWAY_TAKEOFF_GYRO_LIMIT_YAW))) {
1117
1118             if (runawayTakeoffTriggerUs == 0) {
1119                 runawayTakeoffTriggerUs = currentTimeUs + RUNAWAY_TAKEOFF_ACTIVATE_DELAY;
1120             } else if (currentTimeUs > runawayTakeoffTriggerUs) {
1121                 setArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF);
1122                 disarm(DISARM_REASON_RUNAWAY_TAKEOFF);
1123             }
1124         } else {
1125             runawayTakeoffTriggerUs = 0;
1126         }
1127         DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_ENABLED_STATE, DEBUG_RUNAWAY_TAKEOFF_TRUE);
1128         DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_ACTIVATING_DELAY, runawayTakeoffTriggerUs == 0 ? DEBUG_RUNAWAY_TAKEOFF_FALSE : DEBUG_RUNAWAY_TAKEOFF_TRUE);
1129     } else {
1130         runawayTakeoffTriggerUs = 0;
1131         DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_ENABLED_STATE, DEBUG_RUNAWAY_TAKEOFF_FALSE);
1132         DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_ACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
1133     }
1134 #endif
1135
1136
1137 #ifdef USE_PID_AUDIO
1138     if (isModeActivationConditionPresent(BOXPIDAUDIO)) {
1139         pidAudioUpdate();
1140     }
1141 #endif
1142 }
1143
1144 static FAST_CODE_NOINLINE void subTaskPidSubprocesses(timeUs_t currentTimeUs)
1145 {
1146     uint32_t startTime = 0;
1147     if (debugMode == DEBUG_PIDLOOP) {
1148         startTime = micros();
1149     }
1150
1151 #if defined(USE_GPS) || defined(USE_MAG)
1152     if (sensors(SENSOR_GPS) || sensors(SENSOR_MAG)) {
1153         updateMagHold();
1154     }
1155 #endif
1156
1157 #ifdef USE_BLACKBOX
1158     if (!cliMode && blackboxConfig()->device) {
1159         blackboxUpdate(currentTimeUs);
1160     }
1161 #else
1162     UNUSED(currentTimeUs);
1163 #endif
1164
1165     DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
1166 }
1167
1168 #ifdef USE_TELEMETRY
1169 #define GYRO_TEMP_READ_DELAY_US 3e6    // Only read the gyro temp every 3 seconds
1170 void subTaskTelemetryPollSensors(timeUs_t currentTimeUs)
1171 {
1172     static timeUs_t lastGyroTempTimeUs = 0;
1173
1174     if (cmpTimeUs(currentTimeUs, lastGyroTempTimeUs) >= GYRO_TEMP_READ_DELAY_US) {
1175         // Read out gyro temperature if used for telemmetry
1176         gyroReadTemperature();
1177         lastGyroTempTimeUs = currentTimeUs;
1178     }
1179 }
1180 #endif
1181
1182 static FAST_CODE void subTaskMotorUpdate(timeUs_t currentTimeUs)
1183 {
1184     uint32_t startTime = 0;
1185     if (debugMode == DEBUG_CYCLETIME) {
1186         startTime = micros();
1187         static uint32_t previousMotorUpdateTime;
1188         const uint32_t currentDeltaTime = startTime - previousMotorUpdateTime;
1189         debug[2] = currentDeltaTime;
1190         debug[3] = currentDeltaTime - targetPidLooptime;
1191         previousMotorUpdateTime = startTime;
1192     } else if (debugMode == DEBUG_PIDLOOP) {
1193         startTime = micros();
1194     }
1195
1196     mixTable(currentTimeUs);
1197
1198 #ifdef USE_SERVOS
1199     // motor outputs are used as sources for servo mixing, so motors must be calculated using mixTable() before servos.
1200     if (isMixerUsingServos()) {
1201         writeServos();
1202     }
1203 #endif
1204
1205     writeMotors();
1206
1207 #ifdef USE_DSHOT_TELEMETRY_STATS
1208     if (debugMode == DEBUG_DSHOT_RPM_ERRORS && useDshotTelemetry) {
1209         const uint8_t motorCount = MIN(getMotorCount(), 4);
1210         for (uint8_t i = 0; i < motorCount; i++) {
1211             debug[i] = getDshotTelemetryMotorInvalidPercent(i);
1212         }
1213     }
1214 #endif
1215
1216     DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
1217 }
1218
1219 static FAST_CODE_NOINLINE void subTaskRcCommand(timeUs_t currentTimeUs)
1220 {
1221     UNUSED(currentTimeUs);
1222
1223     // If we're armed, at minimum throttle, and we do arming via the
1224     // sticks, do not process yaw input from the rx.  We do this so the
1225     // motors do not spin up while we are trying to arm or disarm.
1226     // Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
1227     if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
1228 #ifndef USE_QUAD_MIXER_ONLY
1229 #ifdef USE_SERVOS
1230                 && !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo)
1231 #endif
1232                 && mixerConfig()->mixerMode != MIXER_AIRPLANE
1233                 && mixerConfig()->mixerMode != MIXER_FLYING_WING
1234 #endif
1235     ) {
1236         resetYawAxis();
1237     }
1238
1239     processRcCommand();
1240 }
1241
1242 FAST_CODE void taskGyroSample(timeUs_t currentTimeUs)
1243 {
1244     UNUSED(currentTimeUs);
1245     gyroUpdate();
1246     if (pidUpdateCounter % activePidLoopDenom == 0) {
1247         pidUpdateCounter = 0;
1248     }
1249     pidUpdateCounter++;
1250 }
1251
1252 FAST_CODE bool gyroFilterReady(void)
1253 {
1254     if (pidUpdateCounter % activePidLoopDenom == 0) {
1255         return true;
1256     } else {
1257         return false;
1258     }
1259 }
1260
1261 FAST_CODE bool pidLoopReady(void)
1262 {
1263     if ((pidUpdateCounter % activePidLoopDenom) == (activePidLoopDenom / 2)) {
1264         return true;
1265     }
1266     return false;
1267 }
1268
1269 FAST_CODE void taskFiltering(timeUs_t currentTimeUs)
1270 {
1271 #ifdef USE_DSHOT_TELEMETRY
1272     updateDshotTelemetry();  // decode and update Dshot telemetry
1273 #endif
1274     gyroFiltering(currentTimeUs);
1275 }
1276
1277 // Function for loop trigger
1278 FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs)
1279 {
1280
1281 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_GYROPID_SYNC)
1282     if (lockMainPID() != 0) return;
1283 #endif
1284
1285     // DEBUG_PIDLOOP, timings for:
1286     // 0 - gyroUpdate()
1287     // 1 - subTaskPidController()
1288     // 2 - subTaskMotorUpdate()
1289     // 3 - subTaskPidSubprocesses()
1290     DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - currentTimeUs);
1291
1292     subTaskRcCommand(currentTimeUs);
1293     subTaskPidController(currentTimeUs);
1294     subTaskMotorUpdate(currentTimeUs);
1295     subTaskPidSubprocesses(currentTimeUs);
1296
1297     DEBUG_SET(DEBUG_CYCLETIME, 0, getTaskDeltaTimeUs(TASK_SELF));
1298     DEBUG_SET(DEBUG_CYCLETIME, 1, getAverageSystemLoadPercent());
1299 }
1300
1301 bool isFlipOverAfterCrashActive(void)
1302 {
1303     return flipOverAfterCrashActive;
1304 }
1305
1306 timeUs_t getLastDisarmTimeUs(void)
1307 {
1308     return lastDisarmTimeUs;
1309 }
1310
1311 bool isTryingToArm(void)
1312 {
1313     return (tryingToArm != ARMING_DELAYED_DISARMED);
1314 }
1315
1316 void resetTryingToArm(void)
1317 {
1318     tryingToArm = ARMING_DELAYED_DISARMED;
1319 }
1320
1321 bool isLaunchControlActive(void)
1322 {
1323 #ifdef USE_LAUNCH_CONTROL
1324     return launchControlState == LAUNCH_CONTROL_ACTIVE;
1325 #else
1326     return false;
1327 #endif
1328 }