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mavlink / HIL: Split handling of actuator feedback between fixed wing and multicopters

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This commit is contained in:
Lorenz Meier
2014-03-25 12:21:07 +01:00
parent 5053575e2f
commit 2c2c4af599
1 changed files with 53 additions and 31 deletions
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src/modules/mavlink/mavlink_messages.cpp
+53 -31
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@@ -71,6 +71,7 @@
#include <uORB/topics/battery_status.h>
#include <uORB/topics/navigation_capabilities.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h>
#include "mavlink_messages.h"
@@ -762,6 +763,9 @@ private:
MavlinkOrbSubscription *act_sub;
struct actuator_outputs_s *act;
MavlinkOrbSubscription *ctrl_sub;
struct actuator_controls_s *ctrl;
protected:
void subscribe(Mavlink *mavlink)
{
@@ -773,6 +777,9 @@ protected:
act_sub = mavlink->add_orb_subscription(ORB_ID(actuator_outputs_0));
act = (struct actuator_outputs_s *)act_sub->get_data();
ctrl_sub = mavlink->add_orb_subscription(ORB_ID(actuator_controls_0));
ctrl = (struct actuator_controls_s *)ctrl_sub->get_data();
}
void send(const hrt_abstime t)
@@ -780,6 +787,7 @@ protected:
bool updated = status_sub->update(t);
updated |= pos_sp_triplet_sub->update(t);
updated |= act_sub->update(t);
updated |= ctrl_sub->update(t);
if (updated) {
/* translate the current syste state to mavlink state and mode */
@@ -788,47 +796,61 @@ protected:
uint32_t mavlink_custom_mode;
get_mavlink_mode_state(status, pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
/* set number of valid outputs depending on vehicle type */
unsigned n;
if (mavlink_system.type == MAV_TYPE_QUADROTOR ||
mavlink_system.type == MAV_TYPE_HEXAROTOR ||
mavlink_system.type == MAV_TYPE_OCTOROTOR) {
/* set number of valid outputs depending on vehicle type */
unsigned n;
switch (mavlink_system.type) {
case MAV_TYPE_QUADROTOR:
n = 4;
break;
switch (mavlink_system.type) {
case MAV_TYPE_QUADROTOR:
n = 4;
break;
case MAV_TYPE_HEXAROTOR:
n = 6;
break;
case MAV_TYPE_HEXAROTOR:
n = 6;
break;
default:
n = 8;
break;
}
default:
n = 8;
break;
}
/* scale / assign outputs depending on system type */
float out[8];
/* scale / assign outputs depending on system type */
float out[8];
for (unsigned i = 0; i < 8; i++) {
if (i < n) {
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
/* scale fake PWM out 900..2100 us to -1..1*/
out[i] = (act->output[i] - 1500.0f) / 600.0f;
for (unsigned i = 0; i < 8; i++) {
if (i < n) {
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
/* scale fake PWM out 900..2100 us to 0..1 for normal multirotors */
out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
} else {
/* send 0 when disarmed */
out[i] = 0.0f;
}
} else {
/* send 0 when disarmed */
out[i] = 0.0f;
out[i] = -1.0f;
}
} else {
out[i] = -1.0f;
}
}
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
mavlink_base_mode,
0);
} else {
/* no special handling required, just send the controls */
mavlink_msg_hil_controls_send(_channel,
hrt_absolute_time(),
ctrl->control[0], ctrl->control[1], ctrl->control[2], ctrl->control[3],
ctrl->control[4], ctrl->control[5], ctrl->control[6], ctrl->control[7],
mavlink_base_mode,
0);
}
}
}
};