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Revert "Show a timeout for in flight rearming" #9846

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Merged
DzikuVx merged 1 commit into from
Mar 24, 2024
Merged

Revert "Show a timeout for in flight rearming" #9846

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16 changes: 2 additions & 14 deletions src/main/fc/fc_core.c
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Original file line number Diff line number Diff line change
Expand Up @@ -507,18 +507,6 @@ bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm)
return counter >= EMERGENCY_ARMING_MIN_ARM_COUNT;
}

uint16_t emergencyInFlightRearmTimeMS(void)
{
uint16_t rearmMS = 0;

if (STATE(IN_FLIGHT_EMERG_REARM)) {
timeMs_t currentTimeMs = millis();
rearmMS = (uint16_t)((US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS) - currentTimeMs);
}

return rearmMS;
}

bool emergInflightRearmEnabled(void)
{
/* Emergency rearm allowed within 5s timeout period after disarm if craft still flying */
Expand Down Expand Up @@ -892,6 +880,7 @@ static void applyThrottleTiltCompensation(void)

void taskMainPidLoop(timeUs_t currentTimeUs)
{

cycleTime = getTaskDeltaTime(TASK_SELF);
dT = (float)cycleTime * 0.000001f;

Expand All @@ -910,8 +899,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
}
}

if (armTime > 1 * USECS_PER_SEC) {
// reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
if (armTime > 1 * USECS_PER_SEC) { // reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
}

Expand Down
2 changes: 0 additions & 2 deletions src/main/fc/fc_core.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,9 +42,7 @@ timeUs_t getLastDisarmTimeUs(void);
void tryArm(void);
disarmReason_t getDisarmReason(void);

uint16_t emergencyInFlightRearmTimeMS(void);
bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm);
bool emergInflightRearmEnabled(void);

bool areSensorsCalibrating(void);
float getFlightTime(void);
Expand Down
45 changes: 14 additions & 31 deletions src/main/io/osd.c
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,6 @@
#include <string.h>
#include <ctype.h>
#include <math.h>
#include <inttypes.h>

#include "platform.h"

Expand Down Expand Up @@ -4561,16 +4560,8 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff);
}

uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;

if (savingSettings == true) {
displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS));
} else if (rearmMs > 0) { // Show rearming time if settings not actively being saved. Ignore the settings saved message if rearm available.
char emReArmMsg[23];
tfp_sprintf(emReArmMsg, "** REARM PERIOD: ");
tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs));
strcat(emReArmMsg, " **\0");
displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(emReArmMsg));
} else if (notify_settings_saved > 0) {
if (millis() > notify_settings_saved) {
notify_settings_saved = 0;
Expand Down Expand Up @@ -4870,10 +4861,9 @@ static void osdRefresh(timeUs_t currentTimeUs)
}

bool statsSinglePageCompatible = (osdDisplayPort->rows >= OSD_STATS_SINGLE_PAGE_MIN_ROWS);
static uint8_t statsCurrentPage = 0;
static timeMs_t statsRefreshTime = 0;
static bool statsDisplayed = false;
static bool statsAutoPagingEnabled = true;
static uint8_t statsCurrentPage = 0;
static bool statsDisplayed = false;
static bool statsAutoPagingEnabled = true;

// Detect arm/disarm
if (armState != ARMING_FLAG(ARMED)) {
Expand Down Expand Up @@ -4941,24 +4931,25 @@ static void osdRefresh(timeUs_t currentTimeUs)
// Alternate screens for multi-page stats.
// Also, refreshes screen at swap interval for single-page stats.
if (OSD_ALTERNATING_CHOICES((osdConfig()->stats_page_auto_swap_time * 1000), 2)) {
if (statsCurrentPage == 0)
if (statsCurrentPage == 0) {
osdShowStats(statsSinglePageCompatible, statsCurrentPage);
statsCurrentPage = 1;
}
} else {
if (statsCurrentPage == 1)
if (statsCurrentPage == 1) {
osdShowStats(statsSinglePageCompatible, statsCurrentPage);
statsCurrentPage = 0;
}
}
} else {
// Process manual page change events for multi-page stats.
if (manualPageUpRequested)
if (manualPageUpRequested) {
osdShowStats(statsSinglePageCompatible, 1);
statsCurrentPage = 1;
else if (manualPageDownRequested)
} else if (manualPageDownRequested) {
osdShowStats(statsSinglePageCompatible, 0);
statsCurrentPage = 0;
}

// Only refresh the stats every 1/4 of a second.
if (statsRefreshTime <= millis()) {
statsRefreshTime = millis() + 250;
osdShowStats(statsSinglePageCompatible, statsCurrentPage);
}
}
}

Expand Down Expand Up @@ -5315,16 +5306,9 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
}

/* Messages that are shown regardless of Arming state */
uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;

if (savingSettings == true) {
messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS);
} else if (rearmMs > 0) { // Show rearming time if settings not actively being saved. Ignore the settings saved message if rearm available.
char emReArmMsg[23];
tfp_sprintf(emReArmMsg, "** REARM PERIOD: ");
tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs));
strcat(emReArmMsg, " **\0");
messages[messageCount++] = OSD_MESSAGE_STR(emReArmMsg);
} else if (notify_settings_saved > 0) {
if (millis() > notify_settings_saved) {
notify_settings_saved = 0;
Expand All @@ -5333,7 +5317,6 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
}
}


if (messageCount > 0) {
message = messages[OSD_ALTERNATING_CHOICES(systemMessageCycleTime(messageCount, messages), messageCount)];
if (message == failsafeInfoMessage) {
Expand Down