Delay save settings to prevent ESC lockup on 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/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"
@@ -396,16 +397,30 @@ void saveConfig(void)
     }
 }
 
-void processDelayedSave(void)
+void processDelayedSave(bool readyToSave)
 {
     if (saveState == SAVESTATE_SAVEANDNOTIFY) {
-        processSaveConfigAndNotify();
-        saveState = SAVESTATE_NONE;
+         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) {
-        suspendRxSignal();
-        writeEEPROM();
-        resumeRxSignal();
-        saveState = SAVESTATE_NONE;
+        if (readyToSave) {
+            suspendRxSignal();
+            writeEEPROM();
+            resumeRxSignal();
+            saveState = SAVESTATE_NONE;
+        }
     }
 }
 

src/main/fc/config.h

@@ -124,7 +124,7 @@ 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"
@@ -894,13 +895,15 @@ 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 / 2));
     }
 
     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

@@ -43,6 +43,7 @@ void tryArm(void);
 disarmReason_t getDisarmReason(void);
 
 bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm);
+bool emergInflightRearmEnabled(void);
 
 bool areSensorsCalibrating(void);
 float getFlightTime(void);

src/main/io/osd.c

@@ -155,8 +155,16 @@
 #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;
@@ -212,17 +220,24 @@ 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) {
+    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;
 }
 
-
-
 bool osdDisplayIsPAL(void)
 {
     return displayScreenSize(osdDisplayPort) == VIDEO_BUFFER_CHARS_PAL;
@@ -4534,12 +4549,15 @@ static void osdShowStats(bool isSinglePageStatsCompatible, uint8_t page)
         displayWrite(osdDisplayPort, statValuesX + multiValueLengthOffset, top++, buff);
     }
 
-    if (savingSettings == true) {
+    if (savingSettings == OSD_SAVE_MESSAGE_SAVING) {
         displayWrite(osdDisplayPort, statNameX, top++, OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS));
+    } else if (savingSettings == OSD_SAVE_MESSAGE_WAITING) {
+        displayWrite(osdDisplayPort, statNameX, top++, 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, statNameX, top++, OSD_MESSAGE_STR(OSD_MSG_SETTINGS_SAVED));
         }
     }
@@ -5265,12 +5283,15 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
 
         /* Messages that are shown regardless of Arming state */
 
-        if (savingSettings == true) {
+        if (savingSettings == OSD_SAVE_MESSAGE_SAVING) {
            messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_SAVING_SETTNGS);
+        } 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);
             }
         }

src/main/io/osd.h

@@ -119,6 +119,7 @@
 #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)"
@@ -486,6 +487,8 @@ int32_t osdGetAltitude(void);
 
 bool osdUsingScaledThrottle(void);
 
+void osdSaveProcessAborted(void);
+void osdSaveWaitingProcess(void);
 void osdStartedSaveProcess(void);
 void osdShowEEPROMSavedNotification(void);