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 <string.h>
  24 #include <math.h>
  25
  26 #include "platform.h"
  27
  28 #include "blackbox/blackbox.h"
  29 #include "blackbox/blackbox_fielddefs.h"
  30
  31 #include "build/debug.h"
  32
  33 #include "cli/cli.h"
  34
  35 #include "cms/cms.h"
  36
  37 #include "common/axis.h"
  38 #include "common/filter.h"
  39 #include "common/maths.h"
  40 #include "common/utils.h"
  41
  42 #include "config/config.h"
  43 #include "config/feature.h"
  44
  45 #include "drivers/dshot.h"
  46 #include "drivers/dshot_command.h"
  47 #include "drivers/light_led.h"
  48 #include "drivers/motor.h"
  49 #include "drivers/sound_beeper.h"
  50 #include "drivers/system.h"
  51 #include "drivers/time.h"
  52 #include "drivers/transponder_ir.h"
  53
  54 #include "fc/controlrate_profile.h"
  55 #include "fc/rc.h"
  56 #include "fc/rc_adjustments.h"
  57 #include "fc/rc_controls.h"
  58 #include "fc/runtime_config.h"
  59 #include "fc/stats.h"
  60
  61 #include "flight/failsafe.h"
  62 #include "flight/gps_rescue.h"
  63
  64 #if defined(USE_GYRO_DATA_ANALYSE)
  65 #include "flight/gyroanalyse.h"
  66 #endif
  67
  68 #include "flight/imu.h"
  69 #include "flight/mixer.h"
  70 #include "flight/pid.h"
  71 #include "flight/position.h"
  72 #include "flight/rpm_filter.h"
  73 #include "flight/servos.h"
  74
  75 #include "io/beeper.h"
  76 #include "io/gps.h"
  77 #include "io/motors.h"
  78 #include "io/pidaudio.h"
  79 #include "io/serial.h"
  80 #include "io/servos.h"
  81 #include "io/statusindicator.h"
  82 #include "io/transponder_ir.h"
  83 #include "io/vtx_control.h"
  84 #include "io/vtx_rtc6705.h"
  85
  86 #include "msp/msp_serial.h"
  87
  88 #include "osd/osd.h"
  89
  90 #include "pg/motor.h"
  91 #include "pg/pg.h"
  92 #include "pg/pg_ids.h"
  93 #include "pg/rx.h"
  94
  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_RAM_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) && !baroIsCalibrationComplete())
 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() || dshotCommandsAreEnabled(DSHOT_CMD_TYPE_INLINE))
 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_BAD_RX_RECOVERY);
 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_BAD_RX_RECOVERY);
 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) || ARMING_FLAG(WAS_EVER_ARMED) || IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
 349                 unsetArmingDisabled(ARMING_DISABLED_GPS);
 350             } else {
 351                 setArmingDisabled(ARMING_DISABLED_GPS);
 352             }
 353             if (IS_RC_MODE_ACTIVE(BOXGPSRESCUE)) {
 354                 setArmingDisabled(ARMING_DISABLED_RESC);
 355             } else {
 356                 unsetArmingDisabled(ARMING_DISABLED_RESC);
 357             }
 358         }
 359 #endif
 360
 361 #ifdef USE_RPM_FILTER
 362         // USE_RPM_FILTER will only be defined if USE_DSHOT and USE_DSHOT_TELEMETRY are defined
 363         // If the RPM filter is anabled and any motor isn't providing telemetry, then disable arming
 364         if (isRpmFilterEnabled() && !isDshotTelemetryActive()) {
 365             setArmingDisabled(ARMING_DISABLED_RPMFILTER);
 366         } else {
 367             unsetArmingDisabled(ARMING_DISABLED_RPMFILTER);
 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 (flipOverAfterCrashActive || 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         flipOverAfterCrashActive = false;
 467
 468 #ifdef USE_PERSISTENT_STATS
 469         statsOnDisarm();
 470 #endif
 471
 472         // if ARMING_DISABLED_RUNAWAY_TAKEOFF is set then we want to play it's beep pattern instead
 473         if (!(getArmingDisableFlags() & (ARMING_DISABLED_RUNAWAY_TAKEOFF | ARMING_DISABLED_CRASH_DETECTED))) {
 474             beeper(BEEPER_DISARMING);      // emit disarm tone
 475         }
 476     }
 477 }
 478
 479 void tryArm(void)
 480 {
 481     if (armingConfig()->gyro_cal_on_first_arm) {
 482         gyroStartCalibration(true);
 483     }
 484
 485     updateArmingStatus();
 486
 487     if (!isArmingDisabled()) {
 488         if (ARMING_FLAG(ARMED)) {
 489             return;
 490         }
 491
 492         const timeUs_t currentTimeUs = micros();
 493
 494 #ifdef USE_DSHOT
 495         if (currentTimeUs - getLastDshotBeaconCommandTimeUs() < DSHOT_BEACON_GUARD_DELAY_US) {
 496             if (tryingToArm == ARMING_DELAYED_DISARMED) {
 497                 if (IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
 498                     tryingToArm = ARMING_DELAYED_CRASHFLIP;
 499 #ifdef USE_LAUNCH_CONTROL
 500                 } else if (canUseLaunchControl()) {
 501                     tryingToArm = ARMING_DELAYED_LAUNCH_CONTROL;
 502 #endif
 503                 } else {
 504                     tryingToArm = ARMING_DELAYED_NORMAL;
 505                 }
 506             }
 507             return;
 508         }
 509
 510         if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
 511             if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
 512                 flipOverAfterCrashActive = false;
 513                 if (!featureIsEnabled(FEATURE_3D)) {
 514                     dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
 515                 }
 516             } else {
 517                 flipOverAfterCrashActive = true;
 518 #ifdef USE_RUNAWAY_TAKEOFF
 519                 runawayTakeoffCheckDisabled = false;
 520 #endif
 521                 if (!featureIsEnabled(FEATURE_3D)) {
 522                     dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, DSHOT_CMD_TYPE_INLINE);
 523                 }
 524             }
 525         }
 526 #endif
 527
 528 #ifdef USE_LAUNCH_CONTROL
 529         if (!flipOverAfterCrashActive && (canUseLaunchControl() || (tryingToArm == ARMING_DELAYED_LAUNCH_CONTROL))) {
 530             if (launchControlState == LAUNCH_CONTROL_DISABLED) {  // only activate if it hasn't already been triggered
 531                 launchControlState = LAUNCH_CONTROL_ACTIVE;
 532             }
 533         }
 534 #endif
 535
 536 #ifdef USE_OSD
 537         osdSuppressStats(false);
 538 #endif
 539         ENABLE_ARMING_FLAG(ARMED);
 540
 541         resetTryingToArm();
 542
 543 #ifdef USE_ACRO_TRAINER
 544         pidAcroTrainerInit();
 545 #endif // USE_ACRO_TRAINER
 546
 547         if (isModeActivationConditionPresent(BOXPREARM)) {
 548             ENABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
 549         }
 550         imuQuaternionHeadfreeOffsetSet();
 551
 552 #if defined(USE_GYRO_DATA_ANALYSE)
 553         resetMaxFFT();
 554 #endif
 555
 556         disarmAt = currentTimeUs + armingConfig()->auto_disarm_delay * 1e6;   // start disarm timeout, will be extended when throttle is nonzero
 557
 558         lastArmingDisabledReason = 0;
 559
 560 #ifdef USE_GPS
 561         GPS_reset_home_position();
 562
 563         //beep to indicate arming
 564         if (featureIsEnabled(FEATURE_GPS)) {
 565             if (STATE(GPS_FIX) && gpsSol.numSat >= 5) {
 566                 beeper(BEEPER_ARMING_GPS_FIX);
 567             } else {
 568                 beeper(BEEPER_ARMING_GPS_NO_FIX);
 569             }
 570         } else {
 571             beeper(BEEPER_ARMING);
 572         }
 573 #else
 574         beeper(BEEPER_ARMING);
 575 #endif
 576
 577 #ifdef USE_PERSISTENT_STATS
 578         statsOnArm();
 579 #endif
 580
 581 #ifdef USE_RUNAWAY_TAKEOFF
 582         runawayTakeoffDeactivateUs = 0;
 583         runawayTakeoffAccumulatedUs = 0;
 584         runawayTakeoffTriggerUs = 0;
 585 #endif
 586     } else {
 587        resetTryingToArm();
 588         if (!isFirstArmingGyroCalibrationRunning()) {
 589             int armingDisabledReason = ffs(getArmingDisableFlags());
 590             if (lastArmingDisabledReason != armingDisabledReason) {
 591                 lastArmingDisabledReason = armingDisabledReason;
 592
 593                 beeperWarningBeeps(armingDisabledReason);
 594             }
 595         }
 596     }
 597 }
 598
 599 // Automatic ACC Offset Calibration
 600 bool AccInflightCalibrationArmed = false;
 601 bool AccInflightCalibrationMeasurementDone = false;
 602 bool AccInflightCalibrationSavetoEEProm = false;
 603 bool AccInflightCalibrationActive = false;
 604 uint16_t InflightcalibratingA = 0;
 605
 606 void handleInflightCalibrationStickPosition(void)
 607 {
 608     if (AccInflightCalibrationMeasurementDone) {
 609         // trigger saving into eeprom after landing
 610         AccInflightCalibrationMeasurementDone = false;
 611         AccInflightCalibrationSavetoEEProm = true;
 612     } else {
 613         AccInflightCalibrationArmed = !AccInflightCalibrationArmed;
 614         if (AccInflightCalibrationArmed) {
 615             beeper(BEEPER_ACC_CALIBRATION);
 616         } else {
 617             beeper(BEEPER_ACC_CALIBRATION_FAIL);
 618         }
 619     }
 620 }
 621
 622 static void updateInflightCalibrationState(void)
 623 {
 624     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
 625         InflightcalibratingA = 50;
 626         AccInflightCalibrationArmed = false;
 627     }
 628     if (IS_RC_MODE_ACTIVE(BOXCALIB)) {      // Use the Calib Option to activate : Calib = TRUE measurement started, Land and Calib = 0 measurement stored
 629         if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
 630             InflightcalibratingA = 50;
 631         AccInflightCalibrationActive = true;
 632     } else if (AccInflightCalibrationMeasurementDone && !ARMING_FLAG(ARMED)) {
 633         AccInflightCalibrationMeasurementDone = false;
 634         AccInflightCalibrationSavetoEEProm = true;
 635     }
 636 }
 637
 638 #if defined(USE_GPS) || defined(USE_MAG)
 639 static void updateMagHold(void)
 640 {
 641     if (fabsf(rcCommand[YAW]) < 15 && FLIGHT_MODE(MAG_MODE)) {
 642         int16_t dif = DECIDEGREES_TO_DEGREES(attitude.values.yaw) - magHold;
 643         if (dif <= -180)
 644             dif += 360;
 645         if (dif >= +180)
 646             dif -= 360;
 647         dif *= -GET_DIRECTION(rcControlsConfig()->yaw_control_reversed);
 648         if (isUpright()) {
 649             rcCommand[YAW] -= dif * currentPidProfile->pid[PID_MAG].P / 30;    // 18 deg
 650         }
 651     } else
 652         magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
 653 }
 654 #endif
 655
 656 #ifdef USE_VTX_CONTROL
 657 static bool canUpdateVTX(void)
 658 {
 659 #ifdef USE_VTX_RTC6705
 660     return vtxRTC6705CanUpdate();
 661 #endif
 662     return true;
 663 }
 664 #endif
 665
 666 #if defined(USE_RUNAWAY_TAKEOFF) || defined(USE_GPS_RESCUE)
 667 // determine if the R/P/Y stick deflection exceeds the specified limit - integer math is good enough here.
 668 bool areSticksActive(uint8_t stickPercentLimit)
 669 {
 670     for (int axis = FD_ROLL; axis <= FD_YAW; axis ++) {
 671         const uint8_t deadband = axis == FD_YAW ? rcControlsConfig()->yaw_deadband : rcControlsConfig()->deadband;
 672         uint8_t stickPercent = 0;
 673         if ((rcData[axis] >= PWM_RANGE_MAX) || (rcData[axis] <= PWM_RANGE_MIN)) {
 674             stickPercent = 100;
 675         } else {
 676             if (rcData[axis] > (rxConfig()->midrc + deadband)) {
 677                 stickPercent = ((rcData[axis] - rxConfig()->midrc - deadband) * 100) / (PWM_RANGE_MAX - rxConfig()->midrc - deadband);
 678             } else if (rcData[axis] < (rxConfig()->midrc - deadband)) {
 679                 stickPercent = ((rxConfig()->midrc - deadband - rcData[axis]) * 100) / (rxConfig()->midrc - deadband - PWM_RANGE_MIN);
 680             }
 681         }
 682         if (stickPercent >= stickPercentLimit) {
 683             return true;
 684         }
 685     }
 686     return false;
 687 }
 688 #endif
 689
 690 #ifdef USE_RUNAWAY_TAKEOFF
 691 // allow temporarily disabling runaway takeoff prevention if we are connected
 692 // to the configurator and the ARMING_DISABLED_MSP flag is cleared.
 693 void runawayTakeoffTemporaryDisable(uint8_t disableFlag)
 694 {
 695     runawayTakeoffTemporarilyDisabled = disableFlag;
 696 }
 697 #endif
 698
 699
 700 // calculate the throttle stick percent - integer math is good enough here.
 701 // returns negative values for reversed thrust in 3D mode
 702 int8_t calculateThrottlePercent(void)
 703 {
 704     uint8_t ret = 0;
 705     int channelData = constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX);
 706
 707     if (featureIsEnabled(FEATURE_3D)
 708         && !IS_RC_MODE_ACTIVE(BOX3D)
 709         && !flight3DConfig()->switched_mode3d) {
 710
 711         if (channelData > (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) {
 712             ret = ((channelData - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle) * 100) / (PWM_RANGE_MAX - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle);
 713         } else if (channelData < (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle)) {
 714             ret = -((rxConfig()->midrc - flight3DConfig()->deadband3d_throttle - channelData) * 100) / (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle - PWM_RANGE_MIN);
 715         }
 716     } else {
 717         ret = constrain(((channelData - rxConfig()->mincheck) * 100) / (PWM_RANGE_MAX - rxConfig()->mincheck), 0, 100);
 718         if (featureIsEnabled(FEATURE_3D)
 719             && IS_RC_MODE_ACTIVE(BOX3D)
 720             && flight3DConfig()->switched_mode3d) {
 721
 722             ret = -ret;  // 3D on a switch is active
 723         }
 724     }
 725     return ret;
 726 }
 727
 728 uint8_t calculateThrottlePercentAbs(void)
 729 {
 730     return ABS(calculateThrottlePercent());
 731 }
 732
 733 static bool airmodeIsActivated;
 734
 735 bool isAirmodeActivated()
 736 {
 737     return airmodeIsActivated;
 738 }
 739
 740
 741 /*
 742  * processRx called from taskUpdateRxMain
 743  */
 744 bool processRx(timeUs_t currentTimeUs)
 745 {
 746     static bool armedBeeperOn = false;
 747 #ifdef USE_TELEMETRY
 748     static bool sharedPortTelemetryEnabled = false;
 749 #endif
 750
 751     timeDelta_t frameAgeUs;
 752     timeDelta_t frameDeltaUs = rxGetFrameDelta(&frameAgeUs);
 753
 754     DEBUG_SET(DEBUG_RX_TIMING, 0, MIN(frameDeltaUs / 10, INT16_MAX));
 755     DEBUG_SET(DEBUG_RX_TIMING, 1, MIN(frameAgeUs / 10, INT16_MAX));
 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     failsafeUpdateState();
 775
 776     const throttleStatus_e throttleStatus = calculateThrottleStatus();
 777     const uint8_t throttlePercent = calculateThrottlePercentAbs();
 778
 779     const bool launchControlActive = isLaunchControlActive();
 780
 781     if (airmodeIsEnabled() && ARMING_FLAG(ARMED) && !launchControlActive) {
 782         if (throttlePercent >= rxConfig()->airModeActivateThreshold) {
 783             airmodeIsActivated = true; // Prevent iterm from being reset
 784         }
 785     } else {
 786         airmodeIsActivated = false;
 787     }
 788
 789     /* In airmode iterm should be prevented to grow when Low thottle and Roll + Pitch Centered.
 790      This is needed to prevent iterm winding on the ground, but keep full stabilisation on 0 throttle while in air */
 791     if (throttleStatus == THROTTLE_LOW && !airmodeIsActivated && !launchControlActive) {
 792         pidSetItermReset(true);
 793         if (currentPidProfile->pidAtMinThrottle)
 794             pidStabilisationState(PID_STABILISATION_ON);
 795         else
 796             pidStabilisationState(PID_STABILISATION_OFF);
 797     } else {
 798         pidSetItermReset(false);
 799         pidStabilisationState(PID_STABILISATION_ON);
 800     }
 801
 802 #ifdef USE_RUNAWAY_TAKEOFF
 803     // If runaway_takeoff_prevention is enabled, accumulate the amount of time that throttle
 804     // is above runaway_takeoff_deactivate_throttle with the any of the R/P/Y sticks deflected
 805     // to at least runaway_takeoff_stick_percent percent while the pidSum on all axis is kept low.
 806     // Once the amount of accumulated time exceeds runaway_takeoff_deactivate_delay then disable
 807     // prevention for the remainder of the battery.
 808
 809     if (ARMING_FLAG(ARMED)
 810         && pidConfig()->runaway_takeoff_prevention
 811         && !runawayTakeoffCheckDisabled
 812         && !flipOverAfterCrashActive
 813         && !runawayTakeoffTemporarilyDisabled
 814         && !isFixedWing()) {
 815
 816         // Determine if we're in "flight"
 817         //   - motors running
 818         //   - throttle over runaway_takeoff_deactivate_throttle_percent
 819         //   - sticks are active and have deflection greater than runaway_takeoff_deactivate_stick_percent
 820         //   - pidSum on all axis is less then runaway_takeoff_deactivate_pidlimit
 821         bool inStableFlight = false;
 822         if (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || (throttleStatus != THROTTLE_LOW)) { // are motors running?
 823             const uint8_t lowThrottleLimit = pidConfig()->runaway_takeoff_deactivate_throttle;
 824             const uint8_t midThrottleLimit = constrain(lowThrottleLimit * 2, lowThrottleLimit * 2, RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT);
 825             if ((((throttlePercent >= lowThrottleLimit) && areSticksActive(RUNAWAY_TAKEOFF_DEACTIVATE_STICK_PERCENT)) || (throttlePercent >= midThrottleLimit))
 826                 && (fabsf(pidData[FD_PITCH].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
 827                 && (fabsf(pidData[FD_ROLL].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)
 828                 && (fabsf(pidData[FD_YAW].Sum) < RUNAWAY_TAKEOFF_DEACTIVATE_PIDSUM_LIMIT)) {
 829
 830                 inStableFlight = true;
 831                 if (runawayTakeoffDeactivateUs == 0) {
 832                     runawayTakeoffDeactivateUs = currentTimeUs;
 833                 }
 834             }
 835         }
 836
 837         // If we're in flight, then accumulate the time and deactivate once it exceeds runaway_takeoff_deactivate_delay milliseconds
 838         if (inStableFlight) {
 839             if (runawayTakeoffDeactivateUs == 0) {
 840                 runawayTakeoffDeactivateUs = currentTimeUs;
 841             }
 842             uint16_t deactivateDelay = pidConfig()->runaway_takeoff_deactivate_delay;
 843             // at high throttle levels reduce deactivation delay by 50%
 844             if (throttlePercent >= RUNAWAY_TAKEOFF_HIGH_THROTTLE_PERCENT) {
 845                 deactivateDelay = deactivateDelay / 2;
 846             }
 847             if ((cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) > deactivateDelay * 1000) {
 848                 runawayTakeoffCheckDisabled = true;
 849             }
 850
 851         } else {
 852             if (runawayTakeoffDeactivateUs != 0) {
 853                 runawayTakeoffAccumulatedUs += cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs);
 854             }
 855             runawayTakeoffDeactivateUs = 0;
 856         }
 857         if (runawayTakeoffDeactivateUs == 0) {
 858             DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
 859             DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, runawayTakeoffAccumulatedUs / 1000);
 860         } else {
 861             DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_TRUE);
 862             DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, (cmpTimeUs(currentTimeUs, runawayTakeoffDeactivateUs) + runawayTakeoffAccumulatedUs) / 1000);
 863         }
 864     } else {
 865         DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
 866         DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_DEACTIVATING_TIME, DEBUG_RUNAWAY_TAKEOFF_FALSE);
 867     }
 868 #endif
 869
 870 #ifdef USE_LAUNCH_CONTROL
 871     if (ARMING_FLAG(ARMED)) {
 872         if (launchControlActive && (throttlePercent > currentPidProfile->launchControlThrottlePercent)) {
 873             // throttle limit trigger reached, launch triggered
 874             // reset the iterms as they may be at high values from holding the launch position
 875             launchControlState = LAUNCH_CONTROL_TRIGGERED;
 876             pidResetIterm();
 877         }
 878     } else {
 879         if (launchControlState == LAUNCH_CONTROL_TRIGGERED) {
 880             // If trigger mode is MULTIPLE then reset the state when disarmed
 881             // and the mode switch is turned off.
 882             // For trigger mode SINGLE we never reset the state and only a single
 883             // launch is allowed until a reboot.
 884             if (currentPidProfile->launchControlAllowTriggerReset && !IS_RC_MODE_ACTIVE(BOXLAUNCHCONTROL)) {
 885                 launchControlState = LAUNCH_CONTROL_DISABLED;
 886             }
 887         } else {
 888             launchControlState = LAUNCH_CONTROL_DISABLED;
 889         }
 890     }
 891 #endif
 892
 893     // When armed and motors aren't spinning, do beeps and then disarm
 894     // board after delay so users without buzzer won't lose fingers.
 895     // mixTable constrains motor commands, so checking  throttleStatus is enough
 896     const timeUs_t autoDisarmDelayUs = armingConfig()->auto_disarm_delay * 1e6;
 897     if (ARMING_FLAG(ARMED)
 898         && featureIsEnabled(FEATURE_MOTOR_STOP)
 899         && !isFixedWing()
 900         && !featureIsEnabled(FEATURE_3D)
 901         && !airmodeIsEnabled()
 902         && !FLIGHT_MODE(GPS_RESCUE_MODE)  // disable auto-disarm when GPS Rescue is active
 903     ) {
 904         if (isUsingSticksForArming()) {
 905             if (throttleStatus == THROTTLE_LOW) {
 906                 if ((autoDisarmDelayUs > 0) && (currentTimeUs > disarmAt)) {
 907                     // auto-disarm configured and delay is over
 908                     disarm(DISARM_REASON_THROTTLE_TIMEOUT);
 909                     armedBeeperOn = false;
 910                 } else {
 911                     // still armed; do warning beeps while armed
 912                     beeper(BEEPER_ARMED);
 913                     armedBeeperOn = true;
 914                 }
 915             } else {
 916                 // throttle is not low - extend disarm time
 917                 disarmAt = currentTimeUs + autoDisarmDelayUs;
 918
 919                 if (armedBeeperOn) {
 920                     beeperSilence();
 921                     armedBeeperOn = false;
 922                 }
 923             }
 924         } else {
 925             // arming is via AUX switch; beep while throttle low
 926             if (throttleStatus == THROTTLE_LOW) {
 927                 beeper(BEEPER_ARMED);
 928                 armedBeeperOn = true;
 929             } else if (armedBeeperOn) {
 930                 beeperSilence();
 931                 armedBeeperOn = false;
 932             }
 933         }
 934     } else {
 935         disarmAt = currentTimeUs + autoDisarmDelayUs;  // extend auto-disarm timer
 936     }
 937
 938     if (!IS_RC_MODE_ACTIVE(BOXPARALYZE)
 939 #ifdef USE_CMS
 940         && !cmsInMenu
 941 #endif
 942         ) {
 943         processRcStickPositions();
 944     }
 945
 946     if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
 947         updateInflightCalibrationState();
 948     }
 949
 950     updateActivatedModes();
 951
 952 #ifdef USE_DSHOT
 953     /* Enable beep warning when the crash flip mode is active */
 954     if (flipOverAfterCrashActive) {
 955         beeper(BEEPER_CRASH_FLIP_MODE);
 956     }
 957 #endif
 958
 959     if (!cliMode && !IS_RC_MODE_ACTIVE(BOXPARALYZE)) {
 960         processRcAdjustments(currentControlRateProfile);
 961     }
 962
 963     bool canUseHorizonMode = true;
 964
 965     if ((IS_RC_MODE_ACTIVE(BOXANGLE) || failsafeIsActive()) && (sensors(SENSOR_ACC))) {
 966         // bumpless transfer to Level mode
 967         canUseHorizonMode = false;
 968
 969         if (!FLIGHT_MODE(ANGLE_MODE)) {
 970             ENABLE_FLIGHT_MODE(ANGLE_MODE);
 971         }
 972     } else {
 973         DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
 974     }
 975
 976     if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
 977
 978         DISABLE_FLIGHT_MODE(ANGLE_MODE);
 979
 980         if (!FLIGHT_MODE(HORIZON_MODE)) {
 981             ENABLE_FLIGHT_MODE(HORIZON_MODE);
 982         }
 983     } else {
 984         DISABLE_FLIGHT_MODE(HORIZON_MODE);
 985     }
 986
 987 #ifdef USE_GPS_RESCUE
 988     if (ARMING_FLAG(ARMED) && (IS_RC_MODE_ACTIVE(BOXGPSRESCUE) || (failsafeIsActive() && failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE))) {
 989         if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
 990             ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
 991         }
 992     } else {
 993         DISABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
 994     }
 995 #endif
 996
 997     if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
 998         LED1_ON;
 999         // increase frequency of attitude task to reduce drift when in angle or horizon mode
1000         rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(500));
1001     } else {
1002         LED1_OFF;
1003         rescheduleTask(TASK_ATTITUDE, TASK_PERIOD_HZ(100));
1004     }
1005
1006     if (!IS_RC_MODE_ACTIVE(BOXPREARM) && ARMING_FLAG(WAS_ARMED_WITH_PREARM)) {
1007         DISABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
1008     }
1009
1010 #if defined(USE_ACC) || defined(USE_MAG)
1011     if (sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) {
1012 #if defined(USE_GPS) || defined(USE_MAG)
1013         if (IS_RC_MODE_ACTIVE(BOXMAG)) {
1014             if (!FLIGHT_MODE(MAG_MODE)) {
1015                 ENABLE_FLIGHT_MODE(MAG_MODE);
1016                 magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
1017             }
1018         } else {
1019             DISABLE_FLIGHT_MODE(MAG_MODE);
1020         }
1021 #endif
1022         if (IS_RC_MODE_ACTIVE(BOXHEADFREE) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
1023             if (!FLIGHT_MODE(HEADFREE_MODE)) {
1024                 ENABLE_FLIGHT_MODE(HEADFREE_MODE);
1025             }
1026         } else {
1027             DISABLE_FLIGHT_MODE(HEADFREE_MODE);
1028         }
1029         if (IS_RC_MODE_ACTIVE(BOXHEADADJ) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
1030             if (imuQuaternionHeadfreeOffsetSet()) {
1031                beeper(BEEPER_RX_SET);
1032             }
1033         }
1034     }
1035 #endif
1036
1037     if (IS_RC_MODE_ACTIVE(BOXPASSTHRU)) {
1038         ENABLE_FLIGHT_MODE(PASSTHRU_MODE);
1039     } else {
1040         DISABLE_FLIGHT_MODE(PASSTHRU_MODE);
1041     }
1042
1043     if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
1044         DISABLE_FLIGHT_MODE(HEADFREE_MODE);
1045     }
1046
1047 #ifdef USE_TELEMETRY
1048     if (featureIsEnabled(FEATURE_TELEMETRY)) {
1049         bool enableSharedPortTelemetry = (!isModeActivationConditionPresent(BOXTELEMETRY) && ARMING_FLAG(ARMED)) || (isModeActivationConditionPresent(BOXTELEMETRY) && IS_RC_MODE_ACTIVE(BOXTELEMETRY));
1050         if (enableSharedPortTelemetry && !sharedPortTelemetryEnabled) {
1051             mspSerialReleaseSharedTelemetryPorts();
1052             telemetryCheckState();
1053
1054             sharedPortTelemetryEnabled = true;
1055         } else if (!enableSharedPortTelemetry && sharedPortTelemetryEnabled) {
1056             // the telemetry state must be checked immediately so that shared serial ports are released.
1057             telemetryCheckState();
1058             mspSerialAllocatePorts();
1059
1060             sharedPortTelemetryEnabled = false;
1061         }
1062     }
1063 #endif
1064
1065 #ifdef USE_VTX_CONTROL
1066     vtxUpdateActivatedChannel();
1067
1068     if (canUpdateVTX()) {
1069         handleVTXControlButton();
1070     }
1071 #endif
1072
1073 #ifdef USE_ACRO_TRAINER
1074     pidSetAcroTrainerState(IS_RC_MODE_ACTIVE(BOXACROTRAINER) && sensors(SENSOR_ACC));
1075 #endif // USE_ACRO_TRAINER
1076
1077 #ifdef USE_RC_SMOOTHING_FILTER
1078     if (ARMING_FLAG(ARMED) && !rcSmoothingInitializationComplete()) {
1079         beeper(BEEPER_RC_SMOOTHING_INIT_FAIL);
1080     }
1081 #endif
1082
1083     pidSetAntiGravityState(IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || featureIsEnabled(FEATURE_ANTI_GRAVITY));
1084
1085     return true;
1086 }
1087
1088 static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
1089 {
1090     uint32_t startTime = 0;
1091     if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
1092     // PID - note this is function pointer set by setPIDController()
1093     pidController(currentPidProfile, currentTimeUs);
1094     DEBUG_SET(DEBUG_PIDLOOP, 1, micros() - startTime);
1095
1096 #ifdef USE_RUNAWAY_TAKEOFF
1097     // Check to see if runaway takeoff detection is active (anti-taz), the pidSum is over the threshold,
1098     // and gyro rate for any axis is above the limit for at least the activate delay period.
1099     // If so, disarm for safety
1100     if (ARMING_FLAG(ARMED)
1101         && !isFixedWing()
1102         && pidConfig()->runaway_takeoff_prevention
1103         && !runawayTakeoffCheckDisabled
1104         && !flipOverAfterCrashActive
1105         && !runawayTakeoffTemporarilyDisabled
1106         && !FLIGHT_MODE(GPS_RESCUE_MODE)   // disable Runaway Takeoff triggering if GPS Rescue is active
1107         && (!featureIsEnabled(FEATURE_MOTOR_STOP) || airmodeIsEnabled() || (calculateThrottleStatus() != THROTTLE_LOW))) {
1108
1109         if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
1110             || (fabsf(pidData[FD_ROLL].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
1111             || (fabsf(pidData[FD_YAW].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD))
1112             && ((gyroAbsRateDps(FD_PITCH) > RUNAWAY_TAKEOFF_GYRO_LIMIT_RP)
1113                 || (gyroAbsRateDps(FD_ROLL) > RUNAWAY_TAKEOFF_GYRO_LIMIT_RP)
1114                 || (gyroAbsRateDps(FD_YAW) > RUNAWAY_TAKEOFF_GYRO_LIMIT_YAW))) {
1115
1116             if (runawayTakeoffTriggerUs == 0) {
1117                 runawayTakeoffTriggerUs = currentTimeUs + RUNAWAY_TAKEOFF_ACTIVATE_DELAY;
1118             } else if (currentTimeUs > runawayTakeoffTriggerUs) {
1119                 setArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF);
1120                 disarm(DISARM_REASON_RUNAWAY_TAKEOFF);
1121             }
1122         } else {
1123             runawayTakeoffTriggerUs = 0;
1124         }
1125         DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_ENABLED_STATE, DEBUG_RUNAWAY_TAKEOFF_TRUE);
1126         DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_ACTIVATING_DELAY, runawayTakeoffTriggerUs == 0 ? DEBUG_RUNAWAY_TAKEOFF_FALSE : DEBUG_RUNAWAY_TAKEOFF_TRUE);
1127     } else {
1128         runawayTakeoffTriggerUs = 0;
1129         DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_ENABLED_STATE, DEBUG_RUNAWAY_TAKEOFF_FALSE);
1130         DEBUG_SET(DEBUG_RUNAWAY_TAKEOFF, DEBUG_RUNAWAY_TAKEOFF_ACTIVATING_DELAY, DEBUG_RUNAWAY_TAKEOFF_FALSE);
1131     }
1132 #endif
1133
1134
1135 #ifdef USE_PID_AUDIO
1136     if (isModeActivationConditionPresent(BOXPIDAUDIO)) {
1137         pidAudioUpdate();
1138     }
1139 #endif
1140 }
1141
1142 static FAST_CODE_NOINLINE void subTaskPidSubprocesses(timeUs_t currentTimeUs)
1143 {
1144     uint32_t startTime = 0;
1145     if (debugMode == DEBUG_PIDLOOP) {
1146         startTime = micros();
1147     }
1148
1149 #if defined(USE_GPS) || defined(USE_MAG)
1150     if (sensors(SENSOR_GPS) || sensors(SENSOR_MAG)) {
1151         updateMagHold();
1152     }
1153 #endif
1154
1155 #ifdef USE_BLACKBOX
1156     if (!cliMode && blackboxConfig()->device) {
1157         blackboxUpdate(currentTimeUs);
1158     }
1159 #else
1160     UNUSED(currentTimeUs);
1161 #endif
1162
1163     DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
1164 }
1165
1166 #ifdef USE_TELEMETRY
1167 #define GYRO_TEMP_READ_DELAY_US 3e6    // Only read the gyro temp every 3 seconds
1168 void subTaskTelemetryPollSensors(timeUs_t currentTimeUs)
1169 {
1170     static timeUs_t lastGyroTempTimeUs = 0;
1171
1172     if (cmpTimeUs(currentTimeUs, lastGyroTempTimeUs) >= GYRO_TEMP_READ_DELAY_US) {
1173         // Read out gyro temperature if used for telemmetry
1174         gyroReadTemperature();
1175         lastGyroTempTimeUs = currentTimeUs;
1176     }
1177 }
1178 #endif
1179
1180 static FAST_CODE void subTaskMotorUpdate(timeUs_t currentTimeUs)
1181 {
1182     uint32_t startTime = 0;
1183     if (debugMode == DEBUG_CYCLETIME) {
1184         startTime = micros();
1185         static uint32_t previousMotorUpdateTime;
1186         const uint32_t currentDeltaTime = startTime - previousMotorUpdateTime;
1187         debug[2] = currentDeltaTime;
1188         debug[3] = currentDeltaTime - targetPidLooptime;
1189         previousMotorUpdateTime = startTime;
1190     } else if (debugMode == DEBUG_PIDLOOP) {
1191         startTime = micros();
1192     }
1193
1194     mixTable(currentTimeUs, currentPidProfile->vbatPidCompensation);
1195
1196 #ifdef USE_SERVOS
1197     // motor outputs are used as sources for servo mixing, so motors must be calculated using mixTable() before servos.
1198     if (isMixerUsingServos()) {
1199         writeServos();
1200     }
1201 #endif
1202
1203     writeMotors();
1204
1205 #ifdef USE_DSHOT_TELEMETRY_STATS
1206     if (debugMode == DEBUG_DSHOT_RPM_ERRORS && useDshotTelemetry) {
1207         const uint8_t motorCount = MIN(getMotorCount(), 4);
1208         for (uint8_t i = 0; i < motorCount; i++) {
1209             debug[i] = getDshotTelemetryMotorInvalidPercent(i);
1210         }
1211     }
1212 #endif
1213
1214     DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
1215 }
1216
1217 static FAST_CODE_NOINLINE void subTaskRcCommand(timeUs_t currentTimeUs)
1218 {
1219     UNUSED(currentTimeUs);
1220
1221     // If we're armed, at minimum throttle, and we do arming via the
1222     // sticks, do not process yaw input from the rx.  We do this so the
1223     // motors do not spin up while we are trying to arm or disarm.
1224     // Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
1225     if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
1226 #ifndef USE_QUAD_MIXER_ONLY
1227 #ifdef USE_SERVOS
1228                 && !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo)
1229 #endif
1230                 && mixerConfig()->mixerMode != MIXER_AIRPLANE
1231                 && mixerConfig()->mixerMode != MIXER_FLYING_WING
1232 #endif
1233     ) {
1234         resetYawAxis();
1235     }
1236
1237     processRcCommand();
1238 }
1239
1240 FAST_CODE void taskGyroSample(timeUs_t currentTimeUs)
1241 {
1242     UNUSED(currentTimeUs);
1243     gyroUpdate();
1244     if (pidUpdateCounter % activePidLoopDenom == 0) {
1245         pidUpdateCounter = 0;
1246     }
1247     pidUpdateCounter++;
1248 }
1249
1250 FAST_CODE bool gyroFilterReady(void)
1251 {
1252     if (pidUpdateCounter % activePidLoopDenom == 0) {
1253         return true;
1254     } else {
1255         return false;
1256     }
1257 }
1258
1259 FAST_CODE bool pidLoopReady(void)
1260 {
1261     if ((pidUpdateCounter % activePidLoopDenom) == (activePidLoopDenom / 2)) {
1262         return true;
1263     }
1264     return false;
1265 }
1266
1267 FAST_CODE void taskFiltering(timeUs_t currentTimeUs)
1268 {
1269     gyroFiltering(currentTimeUs);
1270
1271 }
1272
1273 // Function for loop trigger
1274 FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs)
1275 {
1276
1277 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_GYROPID_SYNC)
1278     if (lockMainPID() != 0) return;
1279 #endif
1280
1281     // DEBUG_PIDLOOP, timings for:
1282     // 0 - gyroUpdate()
1283     // 1 - subTaskPidController()
1284     // 2 - subTaskMotorUpdate()
1285     // 3 - subTaskPidSubprocesses()
1286     DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - currentTimeUs);
1287
1288     subTaskRcCommand(currentTimeUs);
1289     subTaskPidController(currentTimeUs);
1290     subTaskMotorUpdate(currentTimeUs);
1291     subTaskPidSubprocesses(currentTimeUs);
1292
1293     if (debugMode == DEBUG_CYCLETIME) {
1294         DEBUG_SET(DEBUG_CYCLETIME, 0, getTaskDeltaTimeUs(TASK_SELF));
1295         DEBUG_SET(DEBUG_CYCLETIME, 1, getAverageSystemLoadPercent());
1296     }
1297 }
1298
1299 bool isFlipOverAfterCrashActive(void)
1300 {
1301     return flipOverAfterCrashActive;
1302 }
1303
1304 timeUs_t getLastDisarmTimeUs(void)
1305 {
1306     return lastDisarmTimeUs;
1307 }
1308
1309 bool isTryingToArm()
1310 {
1311     return (tryingToArm != ARMING_DELAYED_DISARMED);
1312 }
1313
1314 void resetTryingToArm()
1315 {
1316     tryingToArm = ARMING_DELAYED_DISARMED;
1317 }
1318
1319 bool isLaunchControlActive(void)
1320 {
1321 #ifdef USE_LAUNCH_CONTROL
1322     return launchControlState == LAUNCH_CONTROL_ACTIVE;
1323 #else
1324     return false;
1325 #endif
1326 }