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Copter: do not use out-of-range aux switch values

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This protects against FrSky SBUS that can send 874 for some channels even after recovering from a failsafe
This commit is contained in:
Randy Mackay 2019-01-10 11:33:21 +09:00
parent 32d0137c08
commit d11caf042d
2 changed files with 48 additions and 24 deletions
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2
ArduCopter/Copter.h
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@ -899,7 +899,7 @@ private:
bool check_if_auxsw_mode_used(uint8_t auxsw_mode_check);
bool check_duplicate_auxsw(void);
void reset_control_switch();
uint8_t read_3pos_switch(uint8_t chan);
bool read_3pos_switch(uint8_t chan, uint8_t &ret) const WARN_IF_UNUSED;
void read_aux_switches();
void init_aux_switches();
void init_aux_switch_function(int8_t ch_option, uint8_t ch_flag);

70
ArduCopter/switches.cpp
View File

@ -4,13 +4,13 @@
//Documentation of Aux Switch Flags:
struct {
uint8_t CH6_flag : 2; // 0, 1 // ch6 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH7_flag : 2; // 2, 3 // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH8_flag : 2; // 4, 5 // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH9_flag : 2; // 6, 7 // ch9 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH10_flag : 2; // 8, 9 // ch10 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH11_flag : 2; // 10,11 // ch11 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH12_flag : 2; // 12,13 // ch12 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH6_flag; // ch6 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH7_flag; // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH8_flag; // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH9_flag; // ch9 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH10_flag; // ch10 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH11_flag; // ch11 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH12_flag; // ch12 aux switch : 0 is low or false, 1 is center or true, 2 is high
} aux_con;
void Copter::read_control_switch()
@ -113,21 +113,33 @@ void Copter::reset_control_switch()
}
// read_3pos_switch
uint8_t Copter::read_3pos_switch(uint8_t chan)
bool Copter::read_3pos_switch(uint8_t chan, uint8_t &ret) const
{
uint16_t radio_in = RC_Channels::rc_channel(chan)->get_radio_in();
if (radio_in < AUX_SWITCH_PWM_TRIGGER_LOW) return AUX_SWITCH_LOW; // switch is in low position
if (radio_in > AUX_SWITCH_PWM_TRIGGER_HIGH) return AUX_SWITCH_HIGH; // switch is in high position
return AUX_SWITCH_MIDDLE; // switch is in middle position
const uint16_t radio_in = RC_Channels::rc_channel(chan)->get_radio_in();
if ((radio_in <= 900) || (radio_in >= 2200)) {
return false;
}
if (radio_in < AUX_SWITCH_PWM_TRIGGER_LOW) {
// switch is in low position
ret = AUX_SWITCH_LOW;
} else if (radio_in > AUX_SWITCH_PWM_TRIGGER_HIGH) {
// switch is in high position
ret = AUX_SWITCH_HIGH;
} else {
// switch is in middle position
ret = AUX_SWITCH_MIDDLE;
}
return true;
}
// can't take reference to a bitfield member, thus a #define:
#define read_aux_switch(chan, flag, option) \
#define read_aux_switch(chan, flag, option) \
do { \
switch_position = read_3pos_switch(chan); \
if (debounce_aux_switch(chan, flag) && flag != switch_position) { \
flag = switch_position; \
do_aux_switch_function(option, flag); \
if (read_3pos_switch(chan, switch_position)) { \
if (debounce_aux_switch(chan, flag) && flag != switch_position) { \
flag = switch_position; \
do_aux_switch_function(option, flag); \
} \
} \
} while (false)
@ -155,14 +167,26 @@ void Copter::read_aux_switches()
void Copter::init_aux_switches()
{
// set the CH7 ~ CH12 flags
aux_con.CH7_flag = read_3pos_switch(CH_7);
aux_con.CH8_flag = read_3pos_switch(CH_8);
aux_con.CH10_flag = read_3pos_switch(CH_10);
aux_con.CH11_flag = read_3pos_switch(CH_11);
if (!read_3pos_switch(CH_7, aux_con.CH7_flag)) {
aux_con.CH7_flag = AUX_SWITCH_LOW;
}
if (!read_3pos_switch(CH_8, aux_con.CH8_flag)) {
aux_con.CH8_flag = AUX_SWITCH_LOW;
}
if (!read_3pos_switch(CH_10, aux_con.CH10_flag)) {
aux_con.CH10_flag = AUX_SWITCH_LOW;
}
if (!read_3pos_switch(CH_11, aux_con.CH11_flag)) {
aux_con.CH11_flag = AUX_SWITCH_LOW;
}
// ch9, ch12 only supported on some boards
aux_con.CH9_flag = read_3pos_switch(CH_9);
aux_con.CH12_flag = read_3pos_switch(CH_12);
if (!read_3pos_switch(CH_9, aux_con.CH9_flag)) {
aux_con.CH9_flag = AUX_SWITCH_LOW;
}
if (!read_3pos_switch(CH_12, aux_con.CH12_flag)) {
aux_con.CH12_flag = AUX_SWITCH_LOW;
}
// initialise functions assigned to switches
init_aux_switch_function(g.ch7_option, aux_con.CH7_flag);