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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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src/modules/commander/Commander.cpp
+3 -116
View File
@@ -2467,7 +2467,7 @@ Commander::run()
}
// evaluate the main state machine according to mode switches
if (set_main_state(_status_changed) == TRANSITION_CHANGED) {
if (set_main_state() == TRANSITION_CHANGED) {
// play tune on mode change only if armed, blink LED always
tune_positive(_armed.armed);
_status_changed = true;
@@ -3074,29 +3074,7 @@ Commander::control_status_leds(bool changed, const uint8_t battery_warning)
_leds_counter++;
}
transition_result_t
Commander::set_main_state(bool &changed)
{
if (_safety.override_available && _safety.override_enabled) {
return set_main_state_override_on(changed);
} else {
return set_main_state_rc();
}
}
transition_result_t
Commander::set_main_state_override_on(bool &changed)
{
const transition_result_t res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags,
_internal_state);
changed = (res == TRANSITION_CHANGED);
return res;
}
transition_result_t
Commander::set_main_state_rc()
transition_result_t Commander::set_main_state()
{
if ((_manual_control_switches.timestamp == 0)
|| (_manual_control_switches.timestamp == _last_manual_control_switches.timestamp)) {
@@ -3113,14 +3091,8 @@ Commander::set_main_state_rc()
bool should_evaluate_rc_mode_switch =
(_last_manual_control_switches.offboard_switch != _manual_control_switches.offboard_switch)
|| (_last_manual_control_switches.return_switch != _manual_control_switches.return_switch)
|| (_last_manual_control_switches.mode_switch != _manual_control_switches.mode_switch)
|| (_last_manual_control_switches.acro_switch != _manual_control_switches.acro_switch)
|| (_last_manual_control_switches.posctl_switch != _manual_control_switches.posctl_switch)
|| (_last_manual_control_switches.loiter_switch != _manual_control_switches.loiter_switch)
|| (_last_manual_control_switches.mode_slot != _manual_control_switches.mode_slot)
|| (_last_manual_control_switches.stab_switch != _manual_control_switches.stab_switch)
|| (_last_manual_control_switches.man_switch != _manual_control_switches.man_switch);
|| (_last_manual_control_switches.mode_slot != _manual_control_switches.mode_slot);
if (_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// if already armed don't evaluate first time RC
@@ -3216,84 +3188,6 @@ Commander::set_main_state_rc()
}
return res;
} else if (_manual_control_switches.mode_switch != manual_control_switches_s::SWITCH_POS_NONE) {
/* offboard and RTL switches off or denied, check main mode switch */
switch (_manual_control_switches.mode_switch) {
case manual_control_switches_s::SWITCH_POS_NONE:
res = TRANSITION_NOT_CHANGED;
break;
case manual_control_switches_s::SWITCH_POS_OFF: // MANUAL
if (_manual_control_switches.stab_switch == manual_control_switches_s::SWITCH_POS_NONE &&
_manual_control_switches.man_switch == manual_control_switches_s::SWITCH_POS_NONE) {
/*
* Legacy mode:
* Acro switch being used as stabilized switch in FW.
*/
if (_manual_control_switches.acro_switch == manual_control_switches_s::SWITCH_POS_ON) {
/* manual mode is stabilized already for multirotors, so switch to acro
* for any non-manual mode
*/
if (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_status.is_vtol) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, _internal_state);
} else if (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, _internal_state);
} else {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, _internal_state);
}
} else {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, _internal_state);
}
} else {
/* New mode:
* - Acro is Acro
* - Manual is not default anymore when the manual switch is assigned
*/
if (_manual_control_switches.man_switch == manual_control_switches_s::SWITCH_POS_ON) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, _internal_state);
} else if (_manual_control_switches.acro_switch == manual_control_switches_s::SWITCH_POS_ON) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_ACRO, _status_flags, _internal_state);
} else if (_manual_control_switches.stab_switch == manual_control_switches_s::SWITCH_POS_ON) {
res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, _internal_state);
} else if (_manual_control_switches.man_switch == manual_control_switches_s::SWITCH_POS_NONE) {
// default to MANUAL when no manual switch is set
res = main_state_transition(_status, commander_state_s::MAIN_STATE_MANUAL, _status_flags, _internal_state);
} else {
// default to STAB when the manual switch is assigned (but off)
res = main_state_transition(_status, commander_state_s::MAIN_STATE_STAB, _status_flags, _internal_state);
}
}
// TRANSITION_DENIED is not possible here
break;
case manual_control_switches_s::SWITCH_POS_MIDDLE: // ASSIST
if (_manual_control_switches.posctl_switch == manual_control_switches_s::SWITCH_POS_ON) {
res = try_mode_change(commander_state_s::MAIN_STATE_POSCTL);
} else {
res = try_mode_change(commander_state_s::MAIN_STATE_ALTCTL);
}
break;
case manual_control_switches_s::SWITCH_POS_ON: // AUTO
res = try_mode_change(commander_state_s::MAIN_STATE_AUTO_MISSION);
break;
default:
break;
}
}
return res;
@@ -3374,9 +3268,6 @@ Commander::update_control_mode()
/* set vehicle_control_mode according to set_navigation_state */
_vehicle_control_mode.flag_armed = _armed.armed;
_vehicle_control_mode.flag_external_manual_override_ok =
(_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING && !_status.is_vtol);
switch (_status.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
_vehicle_control_mode.flag_control_manual_enabled = true;
@@ -3409,10 +3300,6 @@ Commander::update_control_mode()
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
/* override is not ok for the RTL and recovery mode */
_vehicle_control_mode.flag_external_manual_override_ok = false;
/* fallthrough */
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
src/modules/commander/Commander.hpp
+1 -7
View File
@@ -173,14 +173,8 @@ private:
void UpdateEstimateValidity();
// Set the main system state based on RC and override device inputs
transition_result_t set_main_state(bool &changed);
// Enable override (manual reversion mode) on the system
transition_result_t set_main_state_override_on(bool &changed);
// Set the system main state based on the current RC inputs
transition_result_t set_main_state_rc();
transition_result_t set_main_state();
bool shutdown_if_allowed();