Do not go into failsafe when the correct roll/pitch/yaw/throttle are …

…sent via MSP_OVERRIDE (betaflight#13380)

* Override failsafe when MSP_OVERRIDE active

Fixes betaflight#13374

Set `rxSignalReceived = true` If MSP_OVERRIDE is active, so that it can be checked later. Otherwise, MSP controls are not considered in failsafe checks.

* Do override only if BOXMOODEOVERRIDE box is active as well

* Update msp.h

* Update msp.c

* Make sure that failsafe works when there is no signal from MSP

* Introduce rxMspOverrideFrameStatus to make a clear separation from rxMspFrameStatus

* Update src/main/rx/msp.c

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* add msp_override_failsafe

* Update src/main/pg/rx.h

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

* Update src/main/rx/rx.c

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

---------

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

src/main/cli/settings.c

@@ -793,6 +793,7 @@ const clivalue_t valueTable[] = {
     { "serialrx_halfduplex",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, halfDuplex) },
 #if defined(USE_RX_MSP_OVERRIDE)
     { "msp_override_channels_mask",      VAR_UINT32 | MASTER_VALUE, .config.u32Max = (1 << MAX_SUPPORTED_RC_CHANNEL_COUNT) - 1, PG_RX_CONFIG, offsetof(rxConfig_t, msp_override_channels_mask)},
+    { "msp_override_failsafe",      VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, msp_override_failsafe)},
 #endif
 #ifdef USE_RX_SPI
     { "rx_spi_protocol",            VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RX_SPI }, PG_RX_SPI_CONFIG, offsetof(rxSpiConfig_t, rx_spi_protocol) },

src/main/pg/rx.h

@@ -62,6 +62,7 @@ typedef struct rxConfig_s {
     uint8_t sbus_baud_fast;                    // Select SBus fast baud rate
     uint8_t crsf_use_rx_snr;                   // Use RX SNR (in dB) instead of RSSI dBm for CRSF
     uint32_t msp_override_channels_mask;       // Channels to override when the MSP override mode is enabled
+    uint8_t msp_override_failsafe;             // if false then extra RC link is always required in msp_override mode, true - allows control via msp_override without extra RC link (autonomous use case)
     uint8_t crsf_use_negotiated_baud;          // Use negotiated baud rate for CRSF V3
 } rxConfig_t;
 

src/main/rx/msp.c

@@ -35,6 +35,7 @@
 
 static uint16_t mspFrame[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 static bool rxMspFrameDone = false;
+static bool rxMspOverrideFrameDone = false;
 
 float rxMspReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t chan)
 {
@@ -57,6 +58,7 @@ void rxMspFrameReceive(uint16_t *frame, int channelCount)
     }
 
     rxMspFrameDone = true;
+    rxMspOverrideFrameDone = true;
 }
 
 static uint8_t rxMspFrameStatus(rxRuntimeState_t *rxRuntimeState)
@@ -71,6 +73,18 @@ static uint8_t rxMspFrameStatus(rxRuntimeState_t *rxRuntimeState)
     return RX_FRAME_COMPLETE;
 }
 
+#if defined(USE_RX_MSP_OVERRIDE)
+uint8_t rxMspOverrideFrameStatus(void)
+{
+    if (!rxMspOverrideFrameDone) {
+        return RX_FRAME_PENDING;
+    }
+
+    rxMspOverrideFrameDone = false;
+    return RX_FRAME_COMPLETE;
+}
+#endif
+
 void rxMspInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
 {
     UNUSED(rxConfig);

src/main/rx/msp.h

@@ -25,3 +25,4 @@ struct rxRuntimeState_s;
 float rxMspReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t chan);
 void rxMspInit(const struct rxConfig_s *rxConfig, struct rxRuntimeState_s *rxRuntimeState);
 void rxMspFrameReceive(uint16_t *frame, int channelCount);
+uint8_t rxMspOverrideFrameStatus();

src/main/rx/rx.c

@@ -534,6 +534,16 @@ FAST_CODE_NOINLINE void rxFrameCheck(timeUs_t currentTimeUs, timeDelta_t current
         }
     }
 
+#if defined(USE_RX_MSP_OVERRIDE)
+    if (IS_RC_MODE_ACTIVE(BOXMSPOVERRIDE) && rxConfig()->msp_override_channels_mask && rxConfig()->msp_override_failsafe) {
+        if (rxMspOverrideFrameStatus() & RX_FRAME_COMPLETE) {
+            rxSignalReceived = true;
+            rxDataProcessingRequired = true;
+            needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
+        }
+    }
+#endif
+
     DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 0, rxSignalReceived);
 }