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px4io: moving mixing to FMU side

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Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Daniel Agar
2021-09-25 19:15:05 -04:00
co-authored by Beat Küng
parent f772b0f45d
commit 089c962d92
59 changed files with 1150 additions and 4170 deletions
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msg/input_rc.msg
+1
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@@ -23,6 +23,7 @@ uint64 timestamp_last_signal # last valid reception time
uint8 channel_count # number of channels actually being seen
int8 RSSI_MAX = 100
int32 rssi # receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception
bool rc_failsafe # explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
msg/manual_control_switches.msg
-7
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@@ -26,11 +26,4 @@ uint8 kill_switch # throttle kill: _NORMAL_, KILL
uint8 gear_switch # landing gear switch: _DOWN_, UP
uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT
# legacy "advanced" switch configuration (will be removed soon)
uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
uint8 man_switch # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
uint8 stab_switch # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL
uint32 switch_changes # number of switch changes
msg/px4io_status.msg
+17 -28
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@@ -6,49 +6,38 @@ float32 voltage_v # Servo rail voltage in volts
float32 rssi_v # RSSI pin voltage in volts
# PX4IO status flags (PX4IO_P_STATUS_FLAGS)
bool status_outputs_armed
bool status_override
bool status_rc_ok
bool status_rc_ppm
bool status_rc_dsm
bool status_rc_sbus
bool status_fmu_ok
bool status_raw_pwm
bool status_mixer_ok
bool status_arm_sync
bool status_init_ok
bool status_failsafe
bool status_safety_off
bool status_fmu_initialized
bool status_fmu_ok
bool status_init_ok
bool status_outputs_armed
bool status_raw_pwm
bool status_rc_ok
bool status_rc_dsm
bool status_rc_ppm
bool status_rc_sbus
bool status_rc_st24
bool status_rc_sumd
bool status_safety_off
# PX4IO alarms (PX4IO_P_STATUS_ALARMS)
bool alarm_vbatt_low
bool alarm_temperature
bool alarm_servo_current
bool alarm_acc_current
bool alarm_fmu_lost
bool alarm_rc_lost
bool alarm_pwm_error
bool alarm_vservo_fault
bool alarm_rc_lost
# PX4IO arming (PX4IO_P_SETUP_ARMING)
bool arming_io_arm_ok
bool arming_failsafe_custom
bool arming_fmu_armed
bool arming_fmu_prearmed
bool arming_manual_override_ok
bool arming_failsafe_custom
bool arming_inair_restart_ok
bool arming_always_pwm_enable
bool arming_rc_handling_disabled
bool arming_lockdown
bool arming_force_failsafe
bool arming_io_arm_ok
bool arming_lockdown
bool arming_termination_failsafe
bool arming_override_immediate
uint16[8] pwm
uint16[8] pwm_disarmed
uint16[8] pwm_failsafe
int16[8] actuators
uint16[8] servos
uint16[8] pwm_rate_hz
uint16[18] raw_inputs
msg/rc_channels.msg
+24 -29
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@@ -4,41 +4,36 @@ uint8 FUNCTION_THROTTLE = 0
uint8 FUNCTION_ROLL = 1
uint8 FUNCTION_PITCH = 2
uint8 FUNCTION_YAW = 3
uint8 FUNCTION_MODE = 4
uint8 FUNCTION_RETURN = 5
uint8 FUNCTION_POSCTL = 6
uint8 FUNCTION_LOITER = 7
uint8 FUNCTION_OFFBOARD = 8
uint8 FUNCTION_ACRO = 9
uint8 FUNCTION_FLAPS = 10
uint8 FUNCTION_AUX_1 = 11
uint8 FUNCTION_AUX_2 = 12
uint8 FUNCTION_AUX_3 = 13
uint8 FUNCTION_AUX_4 = 14
uint8 FUNCTION_AUX_5 = 15
uint8 FUNCTION_PARAM_1 = 16
uint8 FUNCTION_PARAM_2 = 17
uint8 FUNCTION_PARAM_3_5 = 18
uint8 FUNCTION_KILLSWITCH = 19
uint8 FUNCTION_TRANSITION = 20
uint8 FUNCTION_GEAR = 21
uint8 FUNCTION_ARMSWITCH = 22
uint8 FUNCTION_STAB = 23
uint8 FUNCTION_AUX_6 = 24
uint8 FUNCTION_MAN = 25
uint8 FUNCTION_FLTBTN_SLOT_1 = 26
uint8 FUNCTION_FLTBTN_SLOT_2 = 27
uint8 FUNCTION_FLTBTN_SLOT_3 = 28
uint8 FUNCTION_FLTBTN_SLOT_4 = 39
uint8 FUNCTION_FLTBTN_SLOT_5 = 30
uint8 FUNCTION_FLTBTN_SLOT_6 = 31
uint8 FUNCTION_RETURN = 4
uint8 FUNCTION_LOITER = 5
uint8 FUNCTION_OFFBOARD = 6
uint8 FUNCTION_FLAPS = 7
uint8 FUNCTION_AUX_1 = 8
uint8 FUNCTION_AUX_2 = 9
uint8 FUNCTION_AUX_3 = 10
uint8 FUNCTION_AUX_4 = 11
uint8 FUNCTION_AUX_5 = 12
uint8 FUNCTION_AUX_6 = 13
uint8 FUNCTION_PARAM_1 = 14
uint8 FUNCTION_PARAM_2 = 15
uint8 FUNCTION_PARAM_3_5 = 16
uint8 FUNCTION_KILLSWITCH = 17
uint8 FUNCTION_TRANSITION = 18
uint8 FUNCTION_GEAR = 19
uint8 FUNCTION_ARMSWITCH = 20
uint8 FUNCTION_FLTBTN_SLOT_1 = 21
uint8 FUNCTION_FLTBTN_SLOT_2 = 22
uint8 FUNCTION_FLTBTN_SLOT_3 = 23
uint8 FUNCTION_FLTBTN_SLOT_4 = 24
uint8 FUNCTION_FLTBTN_SLOT_5 = 25
uint8 FUNCTION_FLTBTN_SLOT_6 = 26
uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[32] function # Functions mapping
int8[27] function # Functions mapping
uint8 rssi # Receive signal strength index
bool signal_lost # Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count # Number of dropped frames
msg/safety.msg
-2
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@@ -1,5 +1,3 @@
uint64 timestamp # time since system start (microseconds)
bool safety_switch_available # Set to true if a safety switch is connected
bool safety_off # Set to true if safety is off
bool override_available # Set to true if external override system is connected
bool override_enabled # Set to true if override is engaged
msg/vehicle_control_mode.msg
-1
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@@ -1,7 +1,6 @@
uint64 timestamp # time since system start (microseconds)
bool flag_armed # synonym for actuator_armed.armed
bool flag_external_manual_override_ok # external override non-fatal for system. Only true for fixed wing
bool flag_multicopter_position_control_enabled
bool flag_control_manual_enabled # true if manual input is mixed in