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Slightly reworked IO internal failsafe, added command to activate it (px4io failsafe), does not parse commandline arguments yet

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This commit is contained in:
Lorenz Meier
2013-05-28 17:46:24 +02:00
parent f1a8f6e75b
commit 2876bc72f9
4 changed files with 73 additions and 15 deletions
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src/modules/px4iofirmware/mixer.cpp
+23 -6
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@@ -102,13 +102,16 @@ mixer_tick(void)
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
}
/* default to failsafe mixing */
source = MIX_FAILSAFE;
/*
* Decide which set of controls we're using.
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ||
!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
/* do not mix if mixer is invalid or if RAW_PWM mode is on and FMU is good */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) &&
!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
/* don't actually mix anything - we already have raw PWM values or
not a valid mixer. */
@@ -117,6 +120,7 @@ mixer_tick(void)
} else {
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
/* mix from FMU controls */
@@ -132,15 +136,29 @@ mixer_tick(void)
}
}
/*
* Set failsafe status flag depending on mixing source
*/
if (source == MIX_FAILSAFE) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE;
} else {
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE);
}
/*
* Run the mixers.
*/
if (source == MIX_FAILSAFE) {
/* copy failsafe values to the servo outputs */
for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
for (unsigned i = 0; i < IO_SERVO_COUNT; i++) {
r_page_servos[i] = r_page_servo_failsafe[i];
/* safe actuators for FMU feedback */
r_page_actuators[i] = (r_page_servos[i] - 1500) / 600.0f;
}
} else if (source != MIX_NONE) {
float outputs[IO_SERVO_COUNT];
@@ -156,7 +174,7 @@ mixer_tick(void)
r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
/* scale to servo output */
r_page_servos[i] = (outputs[i] * 500.0f) + 1500;
r_page_servos[i] = (outputs[i] * 600.0f) + 1500;
}
for (unsigned i = mixed; i < IO_SERVO_COUNT; i++)
@@ -175,7 +193,7 @@ mixer_tick(void)
bool should_arm = (
/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
/* there is valid input via direct PWM or mixer */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) &&
/* FMU is available or FMU is not available but override is an option */
((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ))
@@ -225,7 +243,6 @@ mixer_callback(uintptr_t handle,
case MIX_FAILSAFE:
case MIX_NONE:
/* XXX we could allow for configuration of per-output failsafe values */
return -1;
}