Add GPS Rescue option to Failsafe tab

locales/en/messages.json

@@ -3008,6 +3008,47 @@
     "failsafeProcedureItemSelect2": {
         "message": "Drop"
     },
+    "failsafeProcedureItemSelect4": {
+        "message": "GPS Rescue"
+    },
+
+    "failsafeGpsRescueItemAngle": {
+        "message": "Angle"
+    },
+    "failsafeGpsRescueItemInitialAltitude": {
+        "message": "Initial altitude (meters)"
+    },
+    "failsafeGpsRescueItemDescentDistance": {
+        "message": "Descent distance (meters)"
+    },
+    "failsafeGpsRescueItemGroundSpeed": {
+        "message": "Ground speed (meters/second)"
+    },
+    "failsafeGpsRescueItemThrottleMin": {
+        "message": "Throttle minimum"
+    },
+    "failsafeGpsRescueItemThrottleMax": {
+        "message": "Throttle maximum"
+    },
+    "failsafeGpsRescueItemThrottleHover": {
+        "message": "Throttle hover"
+    },
+    "failsafeGpsRescueItemMinSats": {
+        "message": "Minimum satellites"
+    },
+    "failsafeGpsRescueItemSanityChecks": {
+        "message": "Sanity checks"
+    },
+    "failsafeGpsRescueItemSanityChecksOff": {
+        "message": "Off"
+    },
+    "failsafeGpsRescueItemSanityChecksOn": {
+        "message": "On"
+    },
+    "failsafeGpsRescueItemSanityChecksFSOnly": {
+        "message": "Failsafe only"
+    },
+
     "failsafeKillSwitchItem": {
         "message": "Failsafe Kill Switch (setup Failsafe in Modes Tab)"
     },

src/css/tabs/failsafe.css

@@ -63,7 +63,8 @@
     background-color: #ededed;
     margin-bottom: 0;
     margin-top: 5px;
-    height: 150px;
+    min-height: 90px;
+    padding-bottom: 10px;
 }
 
 .tab-failsafe .radiobuttons {
@@ -248,10 +249,6 @@
     padding-bottom: 7px;
 }
 
-.tab-failsafe .pro1 {
-    height: 90px;
-}
-
 .tab-failsafe .featuresNew {
     width: 100%;
 }
@@ -296,7 +293,7 @@
 .tab-failsafe .switchMode {
     border: 1px solid silver;
     margin-right: 5px;
-    width: 80px;
+    min-width: 80px;
 }
 
 @media only screen and (max-width: 1055px) , only screen and (max-device-width: 1055px) {

src/js/fc.js

@@ -50,6 +50,7 @@ var RC_DEADBAND_CONFIG;
 var SENSOR_ALIGNMENT;
 var RX_CONFIG;
 var FAILSAFE_CONFIG;
+var GPS_RESCUE;
 var RXFAIL_CONFIG;
 var PID_ADVANCED_CONFIG;
 var FILTER_CONFIG;
@@ -420,7 +421,19 @@ var FC = {
             failsafe_throttle:              0,
             failsafe_switch_mode:           0,
             failsafe_throttle_low_delay:    0,
-            failsafe_procedure:             0.
+            failsafe_procedure:             0,
+        };
+
+        GPS_RESCUE = {
+            angle:                          0,
+            initialAltitudeM:               0,
+            descentDistanceM:               0,
+            rescueGroundspeed:              0,
+            throttleMin:                    0,
+            throttleMax:                    0,
+            throttleHover:                  0,
+            sanityChecks:                   0,
+            minSats:                        0,
         };
 
         RXFAIL_CONFIG = [];

src/js/msp/MSPCodes.js

@@ -110,6 +110,7 @@ var MSPCodes = {
     MSP_MOTOR_CONFIG:               131,
     MSP_GPS_CONFIG:                 132,
     MSP_COMPASS_CONFIG:             133,
+    MSP_GPS_RESCUE:                 135,
 
     MSP_STATUS_EX:                  150,
 
@@ -145,6 +146,7 @@ var MSPCodes = {
     MSP_SET_MOTOR_CONFIG:           222,
     MSP_SET_GPS_CONFIG:             223,
     MSP_SET_COMPASS_CONFIG:         224,
+    MSP_SET_GPS_RESCUE:             225,
 
     MSP_SET_ACC_TRIM:               239,
     MSP_ACC_TRIM:                   240,

src/js/msp/MSPHelper.js

@@ -382,6 +382,17 @@ MspHelper.prototype.process_data = function(dataHandler) {
                     GPS_CONFIG.auto_baud = data.readU8();
                 }
                 break;
+            case MSPCodes.MSP_GPS_RESCUE:
+                GPS_RESCUE.angle             = data.readU16();
+                GPS_RESCUE.initialAltitudeM  = data.readU16();
+                GPS_RESCUE.descentDistanceM  = data.readU16();
+                GPS_RESCUE.rescueGroundspeed = data.readU16();
+                GPS_RESCUE.throttleMin       = data.readU16();
+                GPS_RESCUE.throttleMax       = data.readU16();
+                GPS_RESCUE.throttleHover     = data.readU16();
+                GPS_RESCUE.sanityChecks      = data.readU8();
+                GPS_RESCUE.minSats           = data.readU8();
+                break;
             case MSPCodes.MSP_RSSI_CONFIG:
                 RSSI_CONFIG.channel = data.readU8();
                 break;
@@ -1391,6 +1402,17 @@ MspHelper.prototype.crunch = function(code) {
                     .push8(GPS_CONFIG.auto_baud);
             }
             break;
+        case MSPCodes.MSP_SET_GPS_RESCUE:
+            buffer.push16(GPS_RESCUE.angle)
+                  .push16(GPS_RESCUE.initialAltitudeM)
+                  .push16(GPS_RESCUE.descentDistanceM)
+                  .push16(GPS_RESCUE.rescueGroundspeed)
+                  .push16(GPS_RESCUE.throttleMin)
+                  .push16(GPS_RESCUE.throttleMax)
+                  .push16(GPS_RESCUE.throttleHover)
+                  .push8(GPS_RESCUE.sanityChecks)
+                  .push8(GPS_RESCUE.minSats);
+            break;
         case MSPCodes.MSP_SET_COMPASS_CONFIG:
             buffer.push16(Math.round(COMPASS_CONFIG.mag_declination * 100));
             break;

src/js/tabs/failsafe.js

@@ -18,7 +18,12 @@ TABS.failsafe.initialize = function (callback, scrollPosition) {
     }
     
     function load_rxfail_config() {
-        MSP.send_message(MSPCodes.MSP_RXFAIL_CONFIG, false, false, get_box_names);
+        MSP.send_message(MSPCodes.MSP_RXFAIL_CONFIG, false, false, 
+                semver.gte(CONFIG.apiVersion, "1.41.0") ? load_gps_rescue : get_box_names);
+    }
+
+    function load_gps_rescue() {
+        MSP.send_message(MSPCodes.MSP_GPS_RESCUE, false, false, get_box_names);
     }
 
     function get_box_names() {
@@ -238,21 +243,11 @@ TABS.failsafe.initialize = function (callback, scrollPosition) {
             var element = $(this),
                 checked = element.is(':checked'),
                 id = element.attr('id');
-            switch(id) {
-                case 'drop':
-                    if (checked) {
-                        $('input[name="failsafe_throttle"]').prop("disabled", true);
-                        $('input[name="failsafe_off_delay"]').prop("disabled", true);
-                    }
-                    break;
 
-                case 'land':
+            // Disable all the settings
-                    if (checked) {
+            $('.proceduresettings :input').attr('disabled',true);
-                        $('input[name="failsafe_throttle"]').prop("disabled", false);
+            // Enable only selected
-                        $('input[name="failsafe_off_delay"]').prop("disabled", false);
+            element.parent().parent().find(':input').attr('disabled',false);
-                    }
-                    break;
-            }
         });
 
         switch(FAILSAFE_CONFIG.failsafe_procedure) {
@@ -267,6 +262,11 @@ TABS.failsafe.initialize = function (callback, scrollPosition) {
                 element.prop('checked', true);
                 element.change();
                 break;
+            case 2:
+                element = $('input[id="gps_rescue"]');
+                element.prop('checked', true);
+                element.change();
+                break;
         }
 
         if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
@@ -280,6 +280,31 @@ TABS.failsafe.initialize = function (callback, scrollPosition) {
             $('div.failsafe_switch').hide();
         }
 
+        // The GPS Rescue tab is only available for 1.40 or later, and the parameters for 1.41
+        if (semver.gte(CONFIG.apiVersion, "1.40.0")) {
+
+            if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
+                // Load GPS Rescue parameters
+                $('input[name="gps_rescue_angle"]').val(GPS_RESCUE.angle);
+                $('input[name="gps_rescue_initial_altitude"]').val(GPS_RESCUE.initialAltitudeM);
+                $('input[name="gps_rescue_descent_distance"]').val(GPS_RESCUE.descentDistanceM);
+                $('input[name="gps_rescue_ground_speed"]').val((GPS_RESCUE.rescueGroundspeed / 100).toFixed(2));
+                $('input[name="gps_rescue_throttle_min"]').val(GPS_RESCUE.throttleMin);
+                $('input[name="gps_rescue_throttle_max"]').val(GPS_RESCUE.throttleMax);
+                $('input[name="gps_rescue_throttle_hover"]').val(GPS_RESCUE.throttleHover);
+                $('input[name="gps_rescue_min_sats"]').val(GPS_RESCUE.minSats);
+                $('select[name="gps_rescue_sanity_checks"]').val(GPS_RESCUE.sanityChecks);
+            } else {
+                // GPS Rescue Parameters not available
+                $('.pro4 > .proceduresettings').hide();
+            }
+
+        } else {
+            // GPS Rescue option not available
+            $('.pro4').hide();
+        }
+
+
 
 
         $('a.save').click(function () {
@@ -299,6 +324,8 @@ TABS.failsafe.initialize = function (callback, scrollPosition) {
                 FAILSAFE_CONFIG.failsafe_procedure = 0;
             } else if( $('input[id="drop"]').is(':checked')) {
                 FAILSAFE_CONFIG.failsafe_procedure = 1;
+            } else if( $('input[id="gps_rescue"]').is(':checked')) {
+                FAILSAFE_CONFIG.failsafe_procedure = 2;
             }
 
             if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
@@ -308,6 +335,19 @@ TABS.failsafe.initialize = function (callback, scrollPosition) {
                 FAILSAFE_CONFIG.failsafe_switch_mode = $('input[name="failsafe_kill_switch"]').is(':checked') ? 1 : 0;
             }
 
+            if (semver.gte(CONFIG.apiVersion, "1.41.0")) {
+                // Load GPS Rescue parameters
+                GPS_RESCUE.angle             = $('input[name="gps_rescue_angle"]').val();
+                GPS_RESCUE.initialAltitudeM  = $('input[name="gps_rescue_initial_altitude"]').val();
+                GPS_RESCUE.descentDistanceM  = $('input[name="gps_rescue_descent_distance"]').val();
+                GPS_RESCUE.rescueGroundspeed = $('input[name="gps_rescue_ground_speed"]').val() * 100;
+                GPS_RESCUE.throttleMin       = $('input[name="gps_rescue_throttle_min"]').val();
+                GPS_RESCUE.throttleMax       = $('input[name="gps_rescue_throttle_max"]').val();
+                GPS_RESCUE.throttleHover     = $('input[name="gps_rescue_throttle_hover"]').val();
+                GPS_RESCUE.minSats           = $('input[name="gps_rescue_min_sats"]').val();
+                GPS_RESCUE.sanityChecks      = $('select[name="gps_rescue_sanity_checks"]').val();
+            }
+
             function save_failssafe_config() {
                 MSP.send_message(MSPCodes.MSP_SET_FAILSAFE_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FAILSAFE_CONFIG), false, save_rxfail_config);
             }
@@ -317,9 +357,14 @@ TABS.failsafe.initialize = function (callback, scrollPosition) {
             }
 
             function save_feature_config() {
-                MSP.send_message(MSPCodes.MSP_SET_FEATURE_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FEATURE_CONFIG), false, save_to_eeprom);
+                MSP.send_message(MSPCodes.MSP_SET_FEATURE_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FEATURE_CONFIG), false, 
+                        semver.gte(CONFIG.apiVersion, "1.41.0") ? save_gps_rescue : save_to_eeprom);
             }
 
+            function save_gps_rescue() {
+                MSP.send_message(MSPCodes.MSP_SET_GPS_RESCUE, mspHelper.crunch(MSPCodes.MSP_SET_GPS_RESCUE), false, save_to_eeprom);
+            }
+            
             function save_to_eeprom() {
                 MSP.send_message(MSPCodes.MSP_EEPROM_WRITE, false, false, reboot);
             }

src/tabs/failsafe.html

@@ -115,6 +115,63 @@
                             </div>
                         </div>
                     </div>
+                    <div class="radioarea pro4 stage2">
+                        <div class="radiobuttons"><input class="procedure" id="gps_rescue" name="group1" type="radio" checked/>
+                            <label for="gps_rescue" i18n="failsafeProcedureItemSelect4"></label>
+                        </div>
+                        <div class="proceduresettings">
+                            <div class="number">
+                                <label> <input type="number" name="gps_rescue_angle" min="0" max="200" /> <span
+                                    i18n="failsafeGpsRescueItemAngle"></span>
+                                </label>
+                            </div>
+                            <div class="number">
+                                <label> <input type="number" name="gps_rescue_initial_altitude" min="20" max="100" /> <span
+                                    i18n="failsafeGpsRescueItemInitialAltitude"></span>
+                                </label>
+                            </div>
+                            <div class="number">
+                                <label> <input type="number" name="gps_rescue_descent_distance" min="30" max="500" /> <span
+                                    i18n="failsafeGpsRescueItemDescentDistance"></span>
+                                </label>
+                            </div>
+                            <div class="number">
+                                <label> <input type="number" name="gps_rescue_ground_speed" min="0.30" max="30.00" step="0.01"/> <span
+                                    i18n="failsafeGpsRescueItemGroundSpeed"></span>
+                                </label>
+                            </div>
+                            <div class="number">
+                                <label> <input type="number" name="gps_rescue_throttle_min" min="1000" max="2000" /> <span
+                                    i18n="failsafeGpsRescueItemThrottleMin"></span>
+                                </label>
+                            </div>
+                            <div class="number">
+                                <label> <input type="number" name="gps_rescue_throttle_max" min="1000" max="2000" /> <span
+                                    i18n="failsafeGpsRescueItemThrottleMax"></span>
+                                </label>
+                            </div>
+                            <div class="number">
+                                <label> <input type="number" name="gps_rescue_throttle_hover" min="1000" max="2000" /> <span
+                                    i18n="failsafeGpsRescueItemThrottleHover"></span>
+                                </label>
+                            </div>
+                            <div class="number">
+                                <label> <input type="number" name="gps_rescue_min_sats" min="0" max="50" /> <span
+                                    i18n="failsafeGpsRescueItemMinSats"></span>
+                                </label>
+                            </div>
+                            <div class="selectSwitchMode">
+                                <label>
+                                    <select class="switchMode" name="gps_rescue_sanity_checks">
+                                        <option value="0" i18n="failsafeGpsRescueItemSanityChecksOff"></option>
+                                        <option value="1" i18n="failsafeGpsRescueItemSanityChecksOn"></option>
+                                        <option value="2" i18n="failsafeGpsRescueItemSanityChecksFSOnly"></option>
+                                    </select>
+                                <span i18n="failsafeGpsRescueItemSanityChecks"></span>
+                                </label>
+                            </div>
+                        </div>
+                    </div>
                 </div>
             </div>
         </div>