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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/rc_update/rc_update.cpp
+47 -54
View File
@@ -48,18 +48,13 @@ namespace RCUpdate
static bool operator ==(const manual_control_switches_s &a, const manual_control_switches_s &b)
{
return (a.mode_slot == b.mode_slot &&
a.mode_switch == b.mode_switch &&
a.return_switch == b.return_switch &&
a.posctl_switch == b.posctl_switch &&
a.loiter_switch == b.loiter_switch &&
a.acro_switch == b.acro_switch &&
a.offboard_switch == b.offboard_switch &&
a.kill_switch == b.kill_switch &&
a.arm_switch == b.arm_switch &&
a.transition_switch == b.transition_switch &&
a.gear_switch == b.gear_switch &&
a.stab_switch == b.stab_switch &&
a.man_switch == b.man_switch);
a.gear_switch == b.gear_switch);
}
static bool operator !=(const manual_control_switches_s &a, const manual_control_switches_s &b) { return !(a == b); }
@@ -161,12 +156,47 @@ void RCUpdate::parameters_updated()
{
int32_t rc_map_value = 0;
if (param_get(param_find("RC_MAP_MODE_SW"), &rc_map_value) == PX4_OK) {
if (rc_map_value != 0) {
PX4_WARN("RC_MAP_MODE_SW deprecated");
param_reset(param_find("RC_MAP_MODE_SW"));
}
}
if (param_get(param_find("RC_MAP_RATT_SW"), &rc_map_value) == PX4_OK) {
if (rc_map_value != 0) {
PX4_WARN("RC_MAP_RATT_SW deprecated");
param_reset(param_find("RC_MAP_RATT_SW"));
}
}
if (param_get(param_find("RC_MAP_POSCTL_SW"), &rc_map_value) == PX4_OK) {
if (rc_map_value != 0) {
PX4_WARN("RC_MAP_POSCTL_SW deprecated");
param_reset(param_find("RC_MAP_POSCTL_SW"));
}
}
if (param_get(param_find("RC_MAP_ACRO_SW"), &rc_map_value) == PX4_OK) {
if (rc_map_value != 0) {
PX4_WARN("RC_MAP_ACRO_SW deprecated");
param_reset(param_find("RC_MAP_ACRO_SW"));
}
}
if (param_get(param_find("RC_MAP_STAB_SW"), &rc_map_value) == PX4_OK) {
if (rc_map_value != 0) {
PX4_WARN("RC_MAP_STAB_SW deprecated");
param_reset(param_find("RC_MAP_STAB_SW"));
}
}
if (param_get(param_find("RC_MAP_MAN_SW"), &rc_map_value) == PX4_OK) {
if (rc_map_value != 0) {
PX4_WARN("RC_MAP_MAN_SW deprecated");
param_reset(param_find("RC_MAP_MAN_SW"));
}
}
}
}
@@ -178,18 +208,13 @@ void RCUpdate::update_rc_functions()
_rc.function[rc_channels_s::FUNCTION_PITCH] = _param_rc_map_pitch.get() - 1;
_rc.function[rc_channels_s::FUNCTION_YAW] = _param_rc_map_yaw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_MODE] = _param_rc_map_mode_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_RETURN] = _param_rc_map_return_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_POSCTL] = _param_rc_map_posctl_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_LOITER] = _param_rc_map_loiter_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_ACRO] = _param_rc_map_acro_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_OFFBOARD] = _param_rc_map_offb_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_KILLSWITCH] = _param_rc_map_kill_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_ARMSWITCH] = _param_rc_map_arm_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_TRANSITION] = _param_rc_map_trans_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_GEAR] = _param_rc_map_gear_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_STAB] = _param_rc_map_stab_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_MAN] = _param_rc_map_man_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_FLAPS] = _param_rc_map_flaps.get() - 1;
@@ -524,28 +549,6 @@ void RCUpdate::Run()
perf_end(_loop_perf);
}
switch_pos_t RCUpdate::get_rc_sw3pos_position(uint8_t func, float on_th, float mid_th) const
{
if (_rc.function[func] >= 0) {
const bool on_inv = (on_th < 0.f);
const bool mid_inv = (mid_th < 0.f);
const float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return manual_control_switches_s::SWITCH_POS_ON;
} else if (mid_inv ? value < mid_th : value > mid_th) {
return manual_control_switches_s::SWITCH_POS_MIDDLE;
} else {
return manual_control_switches_s::SWITCH_POS_OFF;
}
}
return manual_control_switches_s::SWITCH_POS_NONE;
}
switch_pos_t RCUpdate::get_rc_sw2pos_position(uint8_t func, float on_th) const
{
if (_rc.function[func] >= 0) {
@@ -569,7 +572,7 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
manual_control_switches_s switches{};
switches.timestamp_sample = timestamp_sample;
// check mode slot (RC_MAP_FLTMODE) or legacy mode switch (RC_MAP_MODE_SW), but not both
// check mode slot (RC_MAP_FLTMODE)
if (_param_rc_map_fltmode.get() > 0) {
// number of valid slots
static constexpr int num_slots = manual_control_switches_s::MODE_SLOT_NUM;
@@ -594,16 +597,6 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
switches.mode_slot = num_slots;
}
} else if (_param_rc_map_mode_sw.get() > 0) {
switches.mode_switch = get_rc_sw3pos_position(rc_channels_s::FUNCTION_MODE,
_param_rc_auto_th.get(), _param_rc_assist_th.get());
// only used with legacy mode switch
switches.man_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_MAN, _param_rc_man_th.get());
switches.acro_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_ACRO, _param_rc_acro_th.get());
switches.stab_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_STAB, _param_rc_stab_th.get());
switches.posctl_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_POSCTL, _param_rc_posctl_th.get());
} else if (_param_rc_map_flightmode_buttons.get() > 0) {
switches.mode_slot = manual_control_switches_s::MODE_SLOT_NONE;
bool is_consistent_button_press = false;
@@ -673,17 +666,17 @@ void RCUpdate::UpdateManualSetpoint(const hrt_abstime &timestamp_sample)
manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_RC;
// limit controls
manual_control_setpoint.y = get_rc_value(rc_channels_s::FUNCTION_ROLL, -1.f, 1.f);
manual_control_setpoint.x = get_rc_value(rc_channels_s::FUNCTION_PITCH, -1.f, 1.f);
manual_control_setpoint.r = get_rc_value(rc_channels_s::FUNCTION_YAW, -1.f, 1.f);
manual_control_setpoint.y = get_rc_value(rc_channels_s::FUNCTION_ROLL, -1.f, 1.f);
manual_control_setpoint.x = get_rc_value(rc_channels_s::FUNCTION_PITCH, -1.f, 1.f);
manual_control_setpoint.r = get_rc_value(rc_channels_s::FUNCTION_YAW, -1.f, 1.f);
manual_control_setpoint.z = get_rc_value(rc_channels_s::FUNCTION_THROTTLE, -1.f, 1.f);
manual_control_setpoint.flaps = get_rc_value(rc_channels_s::FUNCTION_FLAPS, -1.f, 1.f);
manual_control_setpoint.aux1 = get_rc_value(rc_channels_s::FUNCTION_AUX_1, -1.f, 1.f);
manual_control_setpoint.aux2 = get_rc_value(rc_channels_s::FUNCTION_AUX_2, -1.f, 1.f);
manual_control_setpoint.aux3 = get_rc_value(rc_channels_s::FUNCTION_AUX_3, -1.f, 1.f);
manual_control_setpoint.aux4 = get_rc_value(rc_channels_s::FUNCTION_AUX_4, -1.f, 1.f);
manual_control_setpoint.aux5 = get_rc_value(rc_channels_s::FUNCTION_AUX_5, -1.f, 1.f);
manual_control_setpoint.aux6 = get_rc_value(rc_channels_s::FUNCTION_AUX_6, -1.f, 1.f);
manual_control_setpoint.flaps = get_rc_value(rc_channels_s::FUNCTION_FLAPS, -1.f, 1.f);
manual_control_setpoint.aux1 = get_rc_value(rc_channels_s::FUNCTION_AUX_1, -1.f, 1.f);
manual_control_setpoint.aux2 = get_rc_value(rc_channels_s::FUNCTION_AUX_2, -1.f, 1.f);
manual_control_setpoint.aux3 = get_rc_value(rc_channels_s::FUNCTION_AUX_3, -1.f, 1.f);
manual_control_setpoint.aux4 = get_rc_value(rc_channels_s::FUNCTION_AUX_4, -1.f, 1.f);
manual_control_setpoint.aux5 = get_rc_value(rc_channels_s::FUNCTION_AUX_5, -1.f, 1.f);
manual_control_setpoint.aux6 = get_rc_value(rc_channels_s::FUNCTION_AUX_6, -1.f, 1.f);
// publish manual_control_setpoint topic
manual_control_setpoint.timestamp = hrt_absolute_time();