fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 01:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Differentiate between failsafe having kicked in (which stops the normal output mixing based on RC outputs and prevents unwanted control commands due to failsafe) and a true loss of the receiver, where we stop outputting RC channel readings downstream on FMU.

Browse Source
This commit is contained in:
Lorenz Meier
2014-01-26 15:52:51 +01:00
parent 2a30c574ce
commit 00a3270dc6
2 changed files with 96 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/px4iofirmware/controls.c
+94 -73
View File
@@ -59,6 +59,11 @@ static perf_counter_t c_gather_ppm;
void void
controls_init(void) controls_init(void)
{ {
/* no channels */
r_raw_rc_count = 0;
rc_channels_timestamp_received = 0;
rc_channels_timestamp_valid = 0;
/* DSM input (USART1) */ /* DSM input (USART1) */
dsm_init("/dev/ttyS0"); dsm_init("/dev/ttyS0");
@@ -121,6 +126,9 @@ controls_tick() {
else else
r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11; r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
} }
perf_end(c_gather_dsm); perf_end(c_gather_dsm);
@@ -164,6 +172,8 @@ controls_tick() {
if (ppm_updated) { if (ppm_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
} }
perf_end(c_gather_ppm); perf_end(c_gather_ppm);
@@ -185,97 +195,100 @@ controls_tick() {
*/ */
if (dsm_updated || sbus_updated || ppm_updated) { if (dsm_updated || sbus_updated || ppm_updated) {
/* update RC-received timestamp */
system_state.rc_channels_timestamp = hrt_absolute_time();
/* record a bitmask of channels assigned */ /* record a bitmask of channels assigned */
unsigned assigned_channels = 0; unsigned assigned_channels = 0;
/* map raw inputs to mapped inputs */ /* update RC-received timestamp */
/* XXX mapping should be atomic relative to protocol */ system_state.rc_channels_timestamp_received = hrt_absolute_time();
for (unsigned i = 0; i < r_raw_rc_count; i++) {
/* map the input channel */ /* do not command anything in failsafe, kick in the RC loss counter */
uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; if (!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { /* update RC-received timestamp */
system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received;
uint16_t raw = r_raw_rc_values[i]; /* map raw inputs to mapped inputs */
/* XXX mapping should be atomic relative to protocol */
for (unsigned i = 0; i < r_raw_rc_count; i++) {
int16_t scaled; /* map the input channel */
uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
/* if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
* 1) Constrain to min/max values, as later processing depends on bounds.
*/
if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
raw = conf[PX4IO_P_RC_CONFIG_MIN];
if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
raw = conf[PX4IO_P_RC_CONFIG_MAX];
/* uint16_t raw = r_raw_rc_values[i];
* 2) Scale around the mid point differently for lower and upper range.
*
* This is necessary as they don't share the same endpoints and slope.
*
* First normalize to 0..1 range with correct sign (below or above center),
* then scale to 20000 range (if center is an actual center, -10000..10000,
* if parameters only support half range, scale to 10000 range, e.g. if
* center == min 0..10000, if center == max -10000..0).
*
* As the min and max bounds were enforced in step 1), division by zero
* cannot occur, as for the case of center == min or center == max the if
* statement is mutually exclusive with the arithmetic NaN case.
*
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { int16_t scaled;
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
} else { /*
/* in the configured dead zone, output zero */ * 1) Constrain to min/max values, as later processing depends on bounds.
scaled = 0; */
} if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
raw = conf[PX4IO_P_RC_CONFIG_MIN];
if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
raw = conf[PX4IO_P_RC_CONFIG_MAX];
/* invert channel if requested */ /*
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) * 2) Scale around the mid point differently for lower and upper range.
scaled = -scaled; *
* This is necessary as they don't share the same endpoints and slope.
*
* First normalize to 0..1 range with correct sign (below or above center),
* then scale to 20000 range (if center is an actual center, -10000..10000,
* if parameters only support half range, scale to 10000 range, e.g. if
* center == min 0..10000, if center == max -10000..0).
*
* As the min and max bounds were enforced in step 1), division by zero
* cannot occur, as for the case of center == min or center == max the if
* statement is mutually exclusive with the arithmetic NaN case.
*
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
/* and update the scaled/mapped version */ } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
if (mapped < PX4IO_CONTROL_CHANNELS) {
/* invert channel if pitch - pulling the lever down means pitching up by convention */ } else {
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ /* in the configured dead zone, output zero */
scaled = 0;
}
/* invert channel if requested */
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE)
scaled = -scaled; scaled = -scaled;
r_rc_values[mapped] = SIGNED_TO_REG(scaled); /* and update the scaled/mapped version */
assigned_channels |= (1 << mapped); unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
if (mapped < PX4IO_CONTROL_CHANNELS) {
/* invert channel if pitch - pulling the lever down means pitching up by convention */
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
scaled = -scaled;
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
}
} }
} }
}
/* set un-assigned controls to zero */ /* set un-assigned controls to zero */
for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
if (!(assigned_channels & (1 << i))) if (!(assigned_channels & (1 << i)))
r_rc_values[i] = 0; r_rc_values[i] = 0;
} }
/* /* set RC OK flag, as we got an update */
* If we got an update with zero channels, treat it as
* a loss of input.
*
* This might happen if a protocol-based receiver returns an update
* that contains no channels that we have mapped.
*/
if (assigned_channels == 0 || (r_raw_rc_flags & (PX4IO_P_RAW_RC_FLAGS_FAILSAFE))) {
rc_input_lost = true;
} else {
/* set RC OK flag */
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
/* if we have enough channels (5) to control the vehicle, the mapping is ok */
if (assigned_channels > 4) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK;
} else {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
}
} }
/* /*
@@ -288,7 +301,7 @@ controls_tick() {
* If we haven't seen any new control data in 200ms, assume we * If we haven't seen any new control data in 200ms, assume we
* have lost input. * have lost input.
*/ */
if (hrt_elapsed_time(&system_state.rc_channels_timestamp) > 200000) { if (hrt_elapsed_time(&system_state.rc_channels_timestamp_received) > 200000) {
rc_input_lost = true; rc_input_lost = true;
/* clear the input-kind flags here */ /* clear the input-kind flags here */
@@ -296,24 +309,32 @@ controls_tick() {
PX4IO_P_STATUS_FLAGS_RC_PPM | PX4IO_P_STATUS_FLAGS_RC_PPM |
PX4IO_P_STATUS_FLAGS_RC_DSM | PX4IO_P_STATUS_FLAGS_RC_DSM |
PX4IO_P_STATUS_FLAGS_RC_SBUS); PX4IO_P_STATUS_FLAGS_RC_SBUS);
} }
/* /*
* Handle losing RC input * Handle losing RC input
*/ */
if (rc_input_lost) {
/* this kicks in if the receiver is gone or the system went to failsafe */
if (rc_input_lost || (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
/* Clear the RC input status flag, clear manual override flag */ /* Clear the RC input status flag, clear manual override flag */
r_status_flags &= ~( r_status_flags &= ~(
PX4IO_P_STATUS_FLAGS_OVERRIDE | PX4IO_P_STATUS_FLAGS_OVERRIDE |
PX4IO_P_STATUS_FLAGS_RC_OK); PX4IO_P_STATUS_FLAGS_RC_OK);
/* Mark all channels as invalid, as we just lost the RX */
r_rc_valid = 0;
/* Set the RC_LOST alarm */ /* Set the RC_LOST alarm */
r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST; r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST;
}
/* Mark the arrays as empty */ /* this kicks in if the receiver is completely gone */
if (rc_input_lost) {
/* Set channel count to zero */
r_raw_rc_count = 0; r_raw_rc_count = 0;
r_rc_valid = 0;
} }
/* /*
src/modules/px4iofirmware/px4io.h
+2 -1
View File
@@ -116,7 +116,8 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */
*/ */
struct sys_state_s { struct sys_state_s {
volatile uint64_t rc_channels_timestamp; volatile uint64_t rc_channels_timestamp_received;
volatile uint64_t rc_channels_timestamp_valid;
/** /**
* Last FMU receive time, in microseconds since system boot * Last FMU receive time, in microseconds since system boot