Tumble check can be disabled via parameter

bitcraze · Sep 9, 2024 · ed55d64 · ed55d64
1 parent d7425d2
commit ed55d64
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Showing 4 changed files with 17 additions and 18 deletions.
diff --git a/src/modules/src/supervisor.c b/src/modules/src/supervisor.c
@@ -297,6 +297,8 @@ static void postTransitionActions(SupervisorMem_t* this, const supervisorState_t
   }
 }
 
+uint8_t tumbleCheckEnabled = 1;
+
 static supervisorConditionBits_t updateAndPopulateConditions(SupervisorMem_t* this, const sensorData_t *sensors, const setpoint_t* setpoint, const uint32_t currentTick) {
   supervisorConditionBits_t conditions = 0;
 
@@ -311,7 +313,10 @@ static supervisorConditionBits_t updateAndPopulateConditions(SupervisorMem_t* th
 
   const bool isTumbled = isTumbledCheck(this, sensors, currentTick);
   if (isTumbled) {
-    conditions |= SUPERVISOR_CB_IS_TUMBLED;
+    if (tumbleCheckEnabled)
+    {
+      conditions |= SUPERVISOR_CB_IS_TUMBLED;
+    }
   }
 
   const uint32_t setpointAge = currentTick - setpoint->timestamp;
@@ -534,4 +539,9 @@ PARAM_ADD(PARAM_UINT8, infdmp, &supervisorMem.doinfodump)
  */
 PARAM_ADD(PARAM_UINT16 | PARAM_PERSISTENT, landedTimeout, &landingTimeoutDuration)
 
+/**
+ * @brief Set to zero to disable tumble check
+ */
+PARAM_ADD(PARAM_UINT8 | PARAM_PERSISTENT, tmblChckEn, &tumbleCheckEnabled)
+
 PARAM_GROUP_STOP(supervisor)
diff --git a/src/modules/src/supervisor_state_machine.c b/src/modules/src/supervisor_state_machine.c
@@ -63,12 +63,6 @@ static const char* const conditionNames[] = {
 };
 static_assert(sizeof(conditionNames) / sizeof(conditionNames[0]) == supervisorCondition_NrOfConditions);
 
-#if SUPERVISOR_TUMBLE_CHECK_ENABLE
-  #define SUPERVISOR_CB_CONF_IS_TUMBLED (SUPERVISOR_CB_IS_TUMBLED)
-#else
-  #define SUPERVISOR_CB_CONF_IS_TUMBLED (SUPERVISOR_CB_NONE)
-#endif
-
 // State transition definitions
 static SupervisorStateTransition_t transitionsNotInitialized[] = {
   {
@@ -93,7 +87,7 @@ static SupervisorStateTransition_t transitionsPreFlChecksNotPassed[] = {
 
     .triggerCombiner = supervisorAlways,
 
-    .blockers = SUPERVISOR_CB_CONF_IS_TUMBLED,
+    .blockers = SUPERVISOR_CB_IS_TUMBLED,
     .negatedBlockers = SUPERVISOR_CB_NONE,
     .blockerCombiner = supervisorAny,
   }
@@ -112,7 +106,7 @@ static SupervisorStateTransition_t transitionsPreFlChecksPassed[] = {
   {
     .newState = supervisorStatePreFlChecksNotPassed,
 
-    .triggers = SUPERVISOR_CB_CONF_IS_TUMBLED,
+    .triggers = SUPERVISOR_CB_IS_TUMBLED,
     .negatedTriggers = SUPERVISOR_CB_NONE,
     .triggerCombiner = supervisorAny,
 
@@ -125,7 +119,7 @@ static SupervisorStateTransition_t transitionsPreFlChecksPassed[] = {
     .negatedTriggers = SUPERVISOR_CB_NONE,
     .triggerCombiner = supervisorAll,
 
-    .blockers = SUPERVISOR_CB_CONF_IS_TUMBLED,
+    .blockers = SUPERVISOR_CB_IS_TUMBLED,
     .negatedBlockers = SUPERVISOR_CB_NONE,
     .blockerCombiner = supervisorAny,
   },
@@ -144,7 +138,7 @@ static SupervisorStateTransition_t transitionsReadyToFly[] = {
   {
     .newState = supervisorStatePreFlChecksNotPassed,
 
-    .triggers = SUPERVISOR_CB_CONF_IS_TUMBLED,
+    .triggers = SUPERVISOR_CB_IS_TUMBLED,
     .negatedTriggers = SUPERVISOR_CB_ARMED,
     .triggerCombiner = supervisorAny,
 
@@ -174,7 +168,7 @@ static SupervisorStateTransition_t transitionsFlying[] = {
   {
     .newState = supervisorStateCrashed,
 
-    .triggers = SUPERVISOR_CB_CONF_IS_TUMBLED,
+    .triggers = SUPERVISOR_CB_IS_TUMBLED,
     .negatedTriggers = SUPERVISOR_CB_ARMED,
     .triggerCombiner = supervisorAny,
 
@@ -235,7 +229,7 @@ static SupervisorStateTransition_t transitionsWarningLevelOut[] = {
   {
     .newState = supervisorStateExceptFreeFall,
 
-    .triggers = SUPERVISOR_CB_COMMANDER_WDT_TIMEOUT | SUPERVISOR_CB_CONF_IS_TUMBLED | SUPERVISOR_CB_EMERGENCY_STOP,
+    .triggers = SUPERVISOR_CB_COMMANDER_WDT_TIMEOUT | SUPERVISOR_CB_IS_TUMBLED | SUPERVISOR_CB_EMERGENCY_STOP,
     .negatedTriggers = SUPERVISOR_CB_ARMED,
     .triggerCombiner = supervisorAny,
 

diff --git a/src/platform/interface/platform_defaults.h b/src/platform/interface/platform_defaults.h
@@ -124,10 +124,6 @@
 #endif
 
 // Tumble detection settings
-#ifndef SUPERVISOR_TUMBLE_CHECK_ENABLE
-    #define SUPERVISOR_TUMBLE_CHECK_ENABLE true
-#endif
-
 // 60 degrees tilt (when stationary)
 #ifndef SUPERVISOR_TUMBLE_CHECK_ACCEPTED_TILT_ACCZ
     #define SUPERVISOR_TUMBLE_CHECK_ACCEPTED_TILT_ACCZ 0.5f

diff --git a/src/platform/interface/platform_defaults_flapper.h b/src/platform/interface/platform_defaults_flapper.h
@@ -146,7 +146,6 @@
 
 // Tumble check settings //
 ///////////////////////////
-#define SUPERVISOR_TUMBLE_CHECK_ENABLE true
 #define SUPERVISOR_TUMBLE_CHECK_ACCEPTED_TILT_ACCZ 0.0f
 #define SUPERVISOR_TUMBLE_CHECK_ACCEPTED_TILT_TIME 2000
 #define SUPERVISOR_TUMBLE_CHECK_ACCEPTED_UPSIDEDOWN_ACCZ -0.5f