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px4io: moving mixing to FMU side
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
@@ -61,7 +61,7 @@
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* the PX4 system are expressed as signed integer values scaled by 10000,
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* e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and
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* SIGNED_TO_REG macros to convert between register representation and
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* the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float.
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* the signed version.
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*
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* Note that the implementation of readable pages prefers registers within
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* readable pages to be densely packed. Page numbers do not need to be
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@@ -75,76 +75,58 @@
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#define REG_TO_SIGNED(_reg) ((int16_t)(_reg))
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#define SIGNED_TO_REG(_signed) ((uint16_t)(_signed))
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#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f)
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#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)floorf((_float + 0.00005f) * 10000.0f))
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#define REG_TO_BOOL(_reg) ((bool)(_reg))
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#define PX4IO_PROTOCOL_VERSION 4
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#define PX4IO_PROTOCOL_VERSION 5
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/* maximum allowable sizes on this protocol version */
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#define PX4IO_PROTOCOL_MAX_CONTROL_COUNT 8 /**< The protocol does not support more than set here, individual units might support less - see PX4IO_P_CONFIG_CONTROL_COUNT */
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/* static configuration page */
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#define PX4IO_PAGE_CONFIG 0
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#define PX4IO_PAGE_CONFIG 0
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#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */
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#define PX4IO_P_CONFIG_HARDWARE_VERSION 1 /* magic numbers TBD */
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#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */
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#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */
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#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */
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#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */
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#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */
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#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */
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#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */
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#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* hardcoded # of relay outputs */
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#define PX4IO_MAX_TRANSFER_LEN 64
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#define PX4IO_MAX_TRANSFER_LEN 64
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/* dynamic status page */
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#define PX4IO_PAGE_STATUS 1
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#define PX4IO_PAGE_STATUS 1
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#define PX4IO_P_STATUS_FREEMEM 0
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#define PX4IO_P_STATUS_CPULOAD 1
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#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */
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#define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED (1 << 0) /* arm-ok and locally armed */
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#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */
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#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */
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#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */
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#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */
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#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */
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#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */
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#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */
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#define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */
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#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */
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#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */
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#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 15) /* SUMD input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 1) /* RC input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 2) /* PPM input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 3) /* DSM input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 4) /* SBUS input is valid */
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#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 5) /* controls from FMU are valid */
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#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 6) /* raw PWM from FMU */
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#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 7) /* the arming state between IO and FMU is in sync */
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#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 8) /* initialisation of the IO completed without error */
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#define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 9) /* failsafe is active */
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#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 10) /* safety is off */
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#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 11) /* FMU was initialized and OK once */
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#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 12) /* ST24 input is valid */
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#define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 13) /* SUMD input is valid */
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#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
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#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */
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#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */
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#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* [1] servo current limit was exceeded */
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#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* [1] accessory current limit was exceeded */
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#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */
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#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */
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#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */
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#define PX4IO_P_STATUS_ALARMS_VSERVO_FAULT (1 << 7) /* [2] VServo was out of the valid range (2.5 - 5.5 V) */
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#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 0) /* timed out waiting for RC input */
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#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 1) /* PWM configuration or output was bad */
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#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */
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#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
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#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
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#define PX4IO_P_STATUS_MIXER 9 /* mixer actuator limit flags */
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/* array of post-mix actuator outputs, -10000..10000 */
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#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
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/* array of PWM servo output values, microseconds */
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#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */
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#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */
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/* array of raw RC input values, microseconds */
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#define PX4IO_PAGE_RAW_RC_INPUT 4
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#define PX4IO_PAGE_RAW_RC_INPUT 4
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#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */
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#define PX4IO_P_RAW_RC_FLAGS 1 /* RC detail status flags */
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#define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */
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@@ -159,47 +141,34 @@
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#define PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */
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#define PX4IO_P_RAW_RC_BASE 6 /* CONFIG_RC_INPUT_COUNT channels from here */
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/* array of scaled RC input values, -10000..10000 */
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#define PX4IO_PAGE_RC_INPUT 5
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#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */
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#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */
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/* array of raw ADC values */
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#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
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#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
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/* PWM servo information */
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#define PX4IO_PAGE_PWM_INFO 7
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#define PX4IO_PAGE_PWM_INFO 7
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#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */
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/* setup page */
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#define PX4IO_PAGE_SETUP 50
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#define PX4IO_PAGE_SETUP 50
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#define PX4IO_P_SETUP_FEATURES 0
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#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /**< enable S.Bus v1 output */
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#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */
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#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */
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#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */
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#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 2) /**< enable ADC RSSI parsing */
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#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
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#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */
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#define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */
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#define PX4IO_P_SETUP_ARMING_FMU_PREARMED (1 << 2) /* FMU is already prearmed */
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#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 3) /* OK to switch to manual override via override RC channel */
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#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 4) /* use custom failsafe values, not 0 values of mixer */
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#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 5) /* OK to try in-air restart */
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#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 6) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */
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#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 7) /* Disable the IO-internal evaluation of the RC */
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#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 8) /* If set, the system operates normally, but won't actuate any servos */
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#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 9) /* If set, the system will always output the failsafe values */
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#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 10) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */
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#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 11) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */
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#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */
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#define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */
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#define PX4IO_P_SETUP_ARMING_FMU_PREARMED (1 << 2) /* FMU is already prearmed */
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#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values */
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#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 4) /* If set, the system operates normally, but won't actuate any servos */
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#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 5) /* If set, the system will always output the failsafe values */
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#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 6) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */
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#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
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#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
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#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */
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#define PX4IO_P_SETUP_RELAYS_PAD 5
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#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */
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#define PX4IO_P_SETUP_DSM 7 /* DSM bind state */
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#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
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#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
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#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */
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#define PX4IO_P_SETUP_VSERVO_SCALE 5 /* hardware rev [2] servo voltage correction factor (float) */
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#define PX4IO_P_SETUP_DSM 6 /* DSM bind state */
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enum { /* DSM bind states */
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dsm_bind_power_down = 0,
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dsm_bind_power_up,
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@@ -218,113 +187,33 @@ enum { /* DSM bind states */
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#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into
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'armed' (PWM enabled) state - this is a non-data write and
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hence index 12 can safely be used. */
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#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */
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#define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */
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#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
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#define PX4IO_P_SETUP_PWM_REVERSE 15 /**< Bitmask to reverse PWM channels 1-8 */
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#define PX4IO_P_SETUP_TRIM_ROLL 16 /**< Roll trim, in actuator units */
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#define PX4IO_P_SETUP_TRIM_PITCH 17 /**< Pitch trim, in actuator units */
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#define PX4IO_P_SETUP_TRIM_YAW 18 /**< Yaw trim, in actuator units */
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#define PX4IO_P_SETUP_SCALE_ROLL 19 /**< Roll scale, in actuator units */
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#define PX4IO_P_SETUP_SCALE_PITCH 20 /**< Pitch scale, in actuator units */
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#define PX4IO_P_SETUP_SCALE_YAW 21 /**< Yaw scale, in actuator units */
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#define PX4IO_P_SETUP_SBUS_RATE 22 /**< frame rate of SBUS1 output in Hz */
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#define PX4IO_P_SETUP_MOTOR_SLEW_MAX 24 /**< max motor slew rate */
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#define PX4IO_P_SETUP_THR_MDL_FAC 25 /**< factor for modelling motor control signal output to static thrust relationship */
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#define PX4IO_P_SETUP_THERMAL 26 /**< thermal management */
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#define PX4IO_P_SETUP_AIRMODE 27 /**< air-mode */
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#define PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION 28 /**< flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set */
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#define PX4IO_P_SETUP_SBUS_RATE 16 /**< frame rate of SBUS1 output in Hz */
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#define PX4IO_P_SETUP_THERMAL 17 /**< thermal management */
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#define PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION 18 /**< flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set */
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#define PX4IO_THERMAL_IGNORE UINT16_MAX
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#define PX4IO_THERMAL_OFF 0
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#define PX4IO_THERMAL_FULL 10000
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/* autopilot control values, -10000..10000 */
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#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
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#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
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#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
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#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
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#define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
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#define PX4IO_P_CONTROLS_GROUP_VALID 64
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#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */
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#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */
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#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */
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#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */
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/* raw text load to the mixer parser - ignores offset */
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#define PX4IO_PAGE_MIXERLOAD 52
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/* R/C channel config */
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#define PX4IO_PAGE_RC_CONFIG 53 /**< R/C input configuration */
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#define PX4IO_P_RC_CONFIG_MIN 0 /**< lowest input value */
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#define PX4IO_P_RC_CONFIG_CENTER 1 /**< center input value */
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#define PX4IO_P_RC_CONFIG_MAX 2 /**< highest input value */
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#define PX4IO_P_RC_CONFIG_DEADZONE 3 /**< band around center that is ignored */
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#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /**< mapped input value */
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#define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100 /**< magic value for mode switch */
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#define PX4IO_P_RC_CONFIG_OPTIONS 5 /**< channel options bitmask */
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#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0)
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#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1)
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#define PX4IO_P_RC_CONFIG_STRIDE 6 /**< spacing between channel config data */
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/* PWM output - overrides mixer */
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/* PWM output */
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#define PX4IO_PAGE_DIRECT_PWM 54 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
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/* PWM failsafe values - zero disables the output */
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#define PX4IO_PAGE_FAILSAFE_PWM 55 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
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/* PWM failsafe values - zero disables the output */
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#define PX4IO_PAGE_SENSORS 56 /**< Sensors connected to PX4IO */
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#define PX4IO_P_SENSORS_ALTITUDE 0 /**< Altitude of an external sensor (HoTT or S.BUS2) */
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/* Debug and test page - not used in normal operation */
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#define PX4IO_PAGE_TEST 127
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#define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */
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/* PWM minimum values for certain ESCs */
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#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
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/* PWM maximum values for certain ESCs */
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#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
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/* PWM mtrim values for central position */
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#define PX4IO_PAGE_CONTROL_TRIM_PWM 108 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
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/* PWM disarmed values that are active, even when SAFETY_SAFE */
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#define PX4IO_PAGE_DISARMED_PWM 109 /* 0..CONFIG_ACTUATOR_COUNT-1 */
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/**
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* As-needed mixer data upload.
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*
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* This message adds text to the mixer text buffer; the text
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* buffer is drained as the definitions are consumed.
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*/
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#pragma pack(push, 1)
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||||
struct px4io_mixdata {
|
||||
uint16_t f2i_mixer_magic;
|
||||
#define F2I_MIXER_MAGIC 0x6d74
|
||||
|
||||
uint8_t action;
|
||||
#define F2I_MIXER_ACTION_RESET 0
|
||||
#define F2I_MIXER_ACTION_APPEND 1
|
||||
|
||||
char text[0]; /* actual text size may vary */
|
||||
};
|
||||
#pragma pack(pop)
|
||||
#define PX4IO_PAGE_DISARMED_PWM 109 /* 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
||||
/**
|
||||
* Serial protocol encapsulation.
|
||||
*/
|
||||
|
||||
#define PKT_MAX_REGS 32 // by agreement w/FMU
|
||||
|
||||
#pragma pack(push, 1)
|
||||
|
||||
Reference in New Issue
Block a user