Updates to disarm save delay and emergency rearm

src/main/cms/cms.c

@@ -902,7 +902,7 @@ long cmsMenuExit(displayPort_t *pDisplay, const void *ptr)
     setServoOutputEnabled(true);
 
     if ((exitType == CMS_EXIT_SAVEREBOOT) || (exitType == CMS_POPUP_SAVEREBOOT)) {
-        processDelayedSave();
+        processDelayedSave(true);
         displayClearScreen(pDisplay);
         displayWrite(pDisplay, 5, 3, "REBOOTING...");
 

src/main/common/constants.h

@@ -17,10 +17,10 @@
 
 #pragma once
 
-#define FEET_PER_MILE                           5280
-#define FEET_PER_NAUTICALMILE                   6076.118f
-#define FEET_PER_KILOFEET                       1000 // Used for altitude
-#define METERS_PER_KILOMETER                    1000
-#define METERS_PER_MILE                         1609.344f
-#define METERS_PER_FOOT                         3.28084f
-#define METERS_PER_NAUTICALMILE                 1852.001f
+#define FEET_PER_MILE                   5280
+#define FEET_PER_NAUTICALMILE           6076.118f
+#define FEET_PER_KILOFEET               1000 // Used for altitude
+#define METERS_PER_KILOMETER            1000
+#define METERS_PER_MILE                 1609.344f
+#define METERS_PER_FOOT                 3.28084f
+#define METERS_PER_NAUTICALMILE         1852.001f

src/main/fc/config.c

@@ -68,6 +68,7 @@
 
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
+#include "fc/fc_core.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
@@ -375,9 +376,6 @@ void ensureEEPROMContainsValidData(void)
  */
 void saveConfigAndNotify(void)
 {
-#ifdef USE_OSD
-    osdStartedSaveProcess();
-#endif
     saveState = SAVESTATE_SAVEANDNOTIFY;
 }
 
@@ -393,12 +391,24 @@ void saveConfig(void)
     }
 }
 
-void processDelayedSave(void)
+void processDelayedSave(bool readyToSave)
 {
     if (saveState == SAVESTATE_SAVEANDNOTIFY) {
-        processSaveConfigAndNotify();
-        saveState = SAVESTATE_NONE;
-    } else if (saveState == SAVESTATE_SAVEONLY) {
+         if (emergInflightRearmEnabled() || !readyToSave) {
+            // Do not process save if we are potentially still flying. Once armed, this function will not be called until the next disarm.
+#ifdef USE_OSD
+            osdSaveWaitingProcess();
+#endif 
+        } else {
+#ifdef USE_OSD
+            osdStartedSaveProcess();
+#endif
+            if (readyToSave) {
+                processSaveConfigAndNotify();
+                saveState = SAVESTATE_NONE;
+            }
+        }
+    } else if (saveState == SAVESTATE_SAVEONLY && readyToSave) {
         suspendRxSignal();
         writeEEPROM();
         resumeRxSignal();

src/main/fc/config.h

@@ -121,7 +121,7 @@ void resetEEPROM(void);
 void readEEPROM(void);
 void writeEEPROM(void);
 void ensureEEPROMContainsValidData(void);
-void processDelayedSave(void);
+void processDelayedSave(bool readyToSave);
 
 void saveConfig(void);
 void saveConfigAndNotify(void);

src/main/fc/fc_core.c

@@ -65,6 +65,7 @@
 #include "io/beeper.h"
 #include "io/dashboard.h"
 #include "io/gps.h"
+#include "io/osd.h"
 #include "io/serial.h"
 #include "io/statusindicator.h"
 #include "io/asyncfatfs/asyncfatfs.h"
@@ -499,12 +500,29 @@ 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 */
+//    bool emergRearmActive = STATE(IN_FLIGHT_EMERG_REARM);
+//    DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
     timeMs_t currentTimeMs = millis();
     emergRearmStabiliseTimeout = 0;
 
+//    if (ARMING_FLAG(ARMED) && emergRearmActive && (armTime < (1 * USECS_PER_SEC)))
+//        ENABLE_STATE(IN_FLIGHT_EMERG_REARM); // This stays active for 1 second after re-arming
+
     if ((lastDisarmReason != DISARM_SWITCH) ||
         (currentTimeMs > US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS)) {
         return false;
@@ -872,7 +890,6 @@ static void applyThrottleTiltCompensation(void)
 
 void taskMainPidLoop(timeUs_t currentTimeUs)
 {
-
     cycleTime = getTaskDeltaTime(TASK_SELF);
     dT = (float)cycleTime * 0.000001f;
 
@@ -885,13 +902,15 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     if (!ARMING_FLAG(ARMED)) {
         armTime = 0;
 
-        // Delay saving for 0.5s to allow other functions to process save actions on disarm
-        if (currentTimeUs - lastDisarmTimeUs > USECS_PER_SEC / 2) {
-            processDelayedSave();
-        }
+        // Delay saving for 0.5s to allow other functions to finish processing data to be stored on disarm
+        processDelayedSave((currentTimeUs - lastDisarmTimeUs > USECS_PER_SEC));
     }
 
     if (armTime > 1 * USECS_PER_SEC) {     // reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
+#ifdef USE_OSD
+        if (STATE(IN_FLIGHT_EMERG_REARM))
+            osdSaveProcessAborted();
+#endif
         DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
     }
 

src/main/fc/fc_core.h

@@ -41,7 +41,9 @@ 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);

src/main/fc/fc_msp.c

@@ -443,9 +443,22 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU8(dst, getConfigProfile());
 
             if (cmdMSP == MSP_STATUS_EX) {
+#if defined(USE_OSD) && defined(USE_MSP_OSD)
+                bool armingBit = bitArrayGet(mspBoxModeFlags.bits, BOXARM);
+                // If we are in emergency re-arm period and using MSP DisplayPort OSD, show that we are still Armed to prevent the VTX entering low power mode
+                if (feature(FEATURE_OSD) && emergInflightRearmEnabled())
+                    bitArraySet(mspBoxModeFlags.bits, BOXARM);
+#endif
                 sbufWriteU16(dst, averageSystemLoadPercent);
                 sbufWriteU16(dst, armingFlags);
                 sbufWriteU8(dst, accGetCalibrationAxisFlags());
+
+#if defined(USE_OSD) && defined(USE_MSP_OSD)
+                if (armingBit)
+                    bitArraySet(mspBoxModeFlags.bits, BOXARM);
+                else
+                    bitArrayClr(mspBoxModeFlags.bits, BOXARM);
+#endif
             }
         }
         break;

src/main/fc/rc_controls.c

@@ -218,8 +218,7 @@ void processRcStickPositions(bool isThrottleLow)
             tryArm();
             return;
         }
-    }
-    else {
+    } else {
         if (armingSwitchIsActive) {
             rcDisarmTimeMs = currentTimeMs;
             tryArm();

src/main/io/osd.c

@@ -163,8 +163,16 @@
 #define OSD_MIN_FONT_VERSION 3
 
 static timeMs_t linearDescentMessageMs  = 0;
+
+typedef enum {
+    OSD_SAVE_MESSAGE_NONE,
+    OSD_SAVE_MESSAGE_WAITING,
+    OSD_SAVE_MESSAGE_SAVING,
+    OSD_SAVE_MESSAGE_SAVED
+} osd_saveMessage_e;
+
 static timeMs_t notify_settings_saved   = 0;
-static bool     savingSettings          = false;
+static uint8_t  savingSettings          = OSD_SAVE_MESSAGE_NONE;
 
 static unsigned currentLayout = 0;
 static int layoutOverride = -1;
@@ -226,12 +234,22 @@ static bool osdDisplayHasCanvas;
 PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 9);
 PG_REGISTER_WITH_RESET_FN(osdLayoutsConfig_t, osdLayoutsConfig, PG_OSD_LAYOUTS_CONFIG, 1);
 
+void osdSaveProcessAborted(void) {
+    notify_settings_saved = 0;
+    savingSettings = OSD_SAVE_MESSAGE_NONE;
+}
+
+void osdSaveWaitingProcess(void) {
+    if (savingSettings == OSD_SAVE_MESSAGE_NONE)
+        savingSettings = OSD_SAVE_MESSAGE_WAITING;
+}
+
 void osdStartedSaveProcess(void) {
-    savingSettings = true;
+    savingSettings = OSD_SAVE_MESSAGE_SAVING;
 }
 
 void osdShowEEPROMSavedNotification(void) {
-    savingSettings = false;
+    savingSettings = OSD_SAVE_MESSAGE_SAVED;
     notify_settings_saved = millis() + 5000;
 }
 
@@ -5086,22 +5104,30 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
     // The following has been commented out as it will be added in #9688
     // uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;
 
-    if (savingSettings == true) {
+    if (savingSettings == OSD_SAVE_MESSAGE_SAVING) {
         displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS))) / 2, row++, 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 (savingSettings == OSD_SAVE_MESSAGE_WAITING) {
+        displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(OSD_MESSAGE_STR(OSD_MSG_WAITING_TO_SAVE))) / 2, row++, OSD_MESSAGE_STR(OSD_MSG_WAITING_TO_SAVE));
     } else if (notify_settings_saved > 0) {
         if (millis() > notify_settings_saved) {
             notify_settings_saved = 0;
-        } else {
+            savingSettings = OSD_SAVE_MESSAGE_NONE;
+        } else if (savingSettings == OSD_SAVE_MESSAGE_SAVED) {
             displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(OSD_MESSAGE_STR(OSD_MSG_SETTINGS_SAVED))) / 2, row++, OSD_MESSAGE_STR(OSD_MSG_SETTINGS_SAVED));
         }
     }
 
+    if (emergInflightRearmEnabled()) {
+        uint16_t rearmMs = emergencyInFlightRearmTimeMS();
+        if (rearmMs > 0) {
+            char emReArmMsg[23];
+            tfp_sprintf(emReArmMsg, "** REARM PERIOD: ");
+            tfp_sprintf(emReArmMsg + strlen(emReArmMsg), "%02d", (uint8_t)MS2S(rearmMs));
+            strcat(emReArmMsg, " **\0");
+            displayWrite(osdDisplayPort, statNameX, row++, OSD_MESSAGE_STR(emReArmMsg));
+        }
+    }
+
     displayCommitTransaction(osdDisplayPort);
 }
 
@@ -5393,9 +5419,10 @@ static void osdRefresh(timeUs_t currentTimeUs)
     }
 
     bool statsSinglePageCompatible = (osdDisplayPort->rows >= OSD_STATS_SINGLE_PAGE_MIN_ROWS);
-    static uint8_t statsCurrentPage = 0;
-    static bool statsDisplayed = false;
-    static bool statsAutoPagingEnabled = true;
+    static uint8_t  statsCurrentPage = 0;
+    static timeMs_t statsRefreshTime = 0;
+    static bool     statsDisplayed = false;
+    static bool     statsAutoPagingEnabled = true;
 
     // Detect arm/disarm
     if (armState != ARMING_FLAG(ARMED)) {
@@ -5463,25 +5490,24 @@ 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) {
-                        osdShowStats(statsSinglePageCompatible, statsCurrentPage);
+                    if (statsCurrentPage == 0)
                         statsCurrentPage = 1;
-                    }
                 } else {
-                    if (statsCurrentPage == 1) {
-                        osdShowStats(statsSinglePageCompatible, statsCurrentPage);
+                    if (statsCurrentPage == 1)
                         statsCurrentPage = 0;
-                    }
                 }
             } else {
                 // Process manual page change events for multi-page stats.
-                if (manualPageUpRequested) {
-                    osdShowStats(statsSinglePageCompatible, 1);
+                if (manualPageUpRequested)
                     statsCurrentPage = 1;
-                } else if (manualPageDownRequested) {
-                    osdShowStats(statsSinglePageCompatible, 0);
+                else if (manualPageDownRequested)
                     statsCurrentPage = 0;
-                }
+            }
+
+            // Only refresh the stats every 1/4 of a second.
+            if (statsRefreshTime <= millis()) {
+                statsRefreshTime =  millis() + 250;
+                osdShowStats(statsSinglePageCompatible, statsCurrentPage);
             }
         }
 
@@ -5838,26 +5864,28 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
         }
 
         /* Messages that are shown regardless of Arming state */
-
-        // The following has been commented out as it will be added in #9688
-        // uint16_t rearmMs = (emergInflightRearmEnabled()) ? emergencyInFlightRearmTimeMS() : 0;
-
-        if (savingSettings == true) {
+        if (savingSettings == OSD_SAVE_MESSAGE_SAVING) {
            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 (savingSettings == OSD_SAVE_MESSAGE_WAITING) {
+            messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WAITING_TO_SAVE);
         } else if (notify_settings_saved > 0) {
             if (millis() > notify_settings_saved) {
                 notify_settings_saved = 0;
-            } else {
+                savingSettings = OSD_SAVE_MESSAGE_NONE;
+            } else if (savingSettings == OSD_SAVE_MESSAGE_SAVED) {
                 messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_SETTINGS_SAVED);
             }
         }
 
+        uint16_t rearmMs = emergencyInFlightRearmTimeMS();
+        if (rearmMs > 0) {
+            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);
+        }
+
         if (messageCount > 0) {
             message = messages[OSD_ALTERNATING_CHOICES(systemMessageCycleTime(messageCount, messages), messageCount)];
             if (message == failsafeInfoMessage) {

src/main/io/osd.h

@@ -118,6 +118,7 @@
 #define OSD_MSG_UNABLE_ARM          "UNABLE TO ARM"
 #define OSD_MSG_SAVING_SETTNGS      "** SAVING SETTINGS **"
 #define OSD_MSG_SETTINGS_SAVED      "** SETTINGS SAVED **"
+#define OSD_MSG_WAITING_TO_SAVE     "** WAITING TO SAVE **"
 #define OSD_MSG_ANGLEHOLD_ROLL      "(ANGLEHOLD ROLL)"
 #define OSD_MSG_ANGLEHOLD_PITCH     "(ANGLEHOLD PITCH)"
 #define OSD_MSG_ANGLEHOLD_LEVEL     "(ANGLEHOLD LEVEL)"
@@ -492,6 +493,8 @@ int32_t osdGetAltitude(void);
 
 bool osdUsingScaledThrottle(void);
 
+void osdSaveProcessAborted(void);
+void osdSaveWaitingProcess(void);
 void osdStartedSaveProcess(void);
 void osdShowEEPROMSavedNotification(void);