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[WIP] manual_control selector hacks

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This commit is contained in:
Daniel Agar 2021-04-07 13:51:52 -04:00 committed by Matthias Grob
parent e18cf3da3e
commit 2d816e0b3e
54 changed files with 574 additions and 115 deletions
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2
ROMFS/px4fmu_common/init.d/rcS
View File

@ -326,6 +326,8 @@ else
#
rc_update start
manual_control start
#
# Sensors System (start before Commander so Preflight checks are properly run).
# Commander needs to be this early for in-air-restarts.

1
boards/airmind/mindpx-v2/default.px4board
View File

@ -58,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/atl/mantis-edu/default.px4board
View File

@ -17,6 +17,7 @@ CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/av/x-v1/default.px4board
View File

@ -55,6 +55,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/beaglebone/blue/default.px4board
View File

@ -39,6 +39,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/bitcraze/crazyflie/default.px4board
View File

@ -21,6 +21,7 @@ CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

1
boards/bitcraze/crazyflie21/default.px4board
View File

@ -21,6 +21,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

1
boards/cuav/nora/default.px4board
View File

@ -63,6 +63,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/cuav/x7pro/default.px4board
View File

@ -64,6 +64,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/cubepilot/cubeorange/default.px4board
View File

@ -59,6 +59,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/cubepilot/cubeyellow/default.px4board
View File

@ -58,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/emlid/navio2/default.px4board
View File

@ -40,6 +40,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/holybro/durandal-v1/default.px4board
View File

@ -56,6 +56,7 @@ CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/holybro/kakutef7/default.px4board
View File

@ -27,6 +27,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

1
boards/holybro/pix32v5/default.px4board
View File

@ -63,6 +63,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/modalai/fc-v1/default.px4board
View File

@ -58,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/modalai/fc-v2/default.px4board
View File

@ -57,6 +57,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/mro/ctrl-zero-f7-oem/default.px4board
View File

@ -56,6 +56,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/mro/ctrl-zero-f7/default.px4board
View File

@ -56,6 +56,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/mro/ctrl-zero-h7-oem/default.px4board
View File

@ -56,6 +56,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/mro/ctrl-zero-h7/default.px4board
View File

@ -57,6 +57,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/mro/pixracerpro/default.px4board
View File

@ -55,6 +55,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/mro/x21-777/default.px4board
View File

@ -58,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/mro/x21/default.px4board
View File

@ -59,6 +59,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/nxp/fmuk66-e/default.px4board
View File

@ -58,6 +58,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/nxp/fmuk66-v3/default.px4board
View File

@ -63,6 +63,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/nxp/fmurt1062-v1/default.px4board
View File

@ -36,6 +36,7 @@ CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/omnibus/f4sd/default.px4board
View File

@ -28,6 +28,7 @@ CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

1
boards/px4/fmu-v2/default.px4board
View File

@ -31,6 +31,7 @@ CONFIG_MODULES_FW_POS_CONTROL_L1=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

1
boards/px4/fmu-v3/default.px4board
View File

@ -62,6 +62,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/px4/fmu-v4/default.px4board
View File

@ -62,6 +62,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/px4/fmu-v4pro/default.px4board
View File

@ -60,6 +60,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/px4/fmu-v5/default.px4board
View File

@ -65,6 +65,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/px4/fmu-v5x/default.px4board
View File

@ -67,6 +67,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/px4/fmu-v6u/default.px4board
View File

@ -59,6 +59,7 @@ CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/px4/fmu-v6x/default.px4board
View File

@ -56,6 +56,7 @@ CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/px4/raspberrypi/default.px4board
View File

@ -39,6 +39,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/px4/sitl/default.px4board
View File

@ -27,6 +27,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/scumaker/pilotpi/default.px4board
View File

@ -39,6 +39,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/spracing/h7extreme/default.px4board
View File

@ -28,6 +28,7 @@ CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
boards/uvify/core/default.px4board
View File

@ -46,6 +46,7 @@ CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y

1
msg/CMakeLists.txt
View File

@ -102,6 +102,7 @@ set(msg_files
logger_status.msg
mag_worker_data.msg
magnetometer_bias_estimate.msg
manual_control_input.msg
manual_control_setpoint.msg
manual_control_switches.msg
mavlink_log.msg

52
msg/manual_control_input.msg Normal file
View File

@ -0,0 +1,52 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint8 SOURCE_UNKNOWN = 0
uint8 SOURCE_RC = 1 # radio control (input_rc)
uint8 SOURCE_MAVLINK_0 = 2 # mavlink instance 0
uint8 SOURCE_MAVLINK_1 = 3 # mavlink instance 1
uint8 SOURCE_MAVLINK_2 = 4 # mavlink instance 2
uint8 SOURCE_MAVLINK_3 = 5 # mavlink instance 3
uint8 SOURCE_MAVLINK_4 = 6 # mavlink instance 4
uint8 SOURCE_MAVLINK_5 = 7 # mavlink instance 5
uint8 data_source
# Any of the channels may not be available and be set to NaN
# to indicate that it does not contain valid data.
# The variable names follow the definition of the
# MANUAL_CONTROL mavlink message.
# The default range is from -1 to 1 (mavlink message -1000 to 1000)
# The range for the z variable is defined from 0 to 1. (The z field of
# the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
float32 x # stick position in x direction -1..1
# in general corresponds to forward/back motion or pitch of vehicle,
# in general a positive value means forward or negative pitch and
# a negative value means backward or positive pitch
float32 y # stick position in y direction -1..1
# in general corresponds to right/left motion or roll of vehicle,
# in general a positive value means right or positive roll and
# a negative value means left or negative roll
float32 z # throttle stick position 0..1
# in general corresponds to up/down motion or thrust of vehicle,
# in general the value corresponds to the demanded throttle by the user,
# if the input is used for setting the setpoint of a vertical position
# controller any value > 0.5 means up and any value < 0.5 means down
float32 r # yaw stick/twist position, -1..1
# in general corresponds to the righthand rotation around the vertical
# (downwards) axis of the vehicle
float32 flaps # flap position
float32 aux1 # default function: camera yaw / azimuth
float32 aux2 # default function: camera pitch / tilt
float32 aux3 # default function: camera trigger
float32 aux4 # default function: camera roll
float32 aux5 # default function: payload drop
float32 aux6

23
msg/manual_control_setpoint.msg
View File

@ -1,14 +1,17 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint8 SOURCE_RC = 1 # radio control
uint8 SOURCE_UNKNOWN = 0
uint8 SOURCE_RC = 1 # radio control (input_rc)
uint8 SOURCE_MAVLINK_0 = 2 # mavlink instance 0
uint8 SOURCE_MAVLINK_1 = 3 # mavlink instance 1
uint8 SOURCE_MAVLINK_2 = 4 # mavlink instance 2
uint8 SOURCE_MAVLINK_3 = 5 # mavlink instance 4
uint8 SOURCE_MAVLINK_3 = 5 # mavlink instance 3
uint8 SOURCE_MAVLINK_4 = 6 # mavlink instance 4
uint8 SOURCE_MAVLINK_5 = 7 # mavlink instance 5
uint8 data_source # where this input is coming from
uint8 data_source
# Any of the channels may not be available and be set to NaN
# to indicate that it does not contain valid data.
@ -38,6 +41,12 @@ float32 r # yaw stick/twist position, -1..1
# in general corresponds to the righthand rotation around the vertical
# (downwards) axis of the vehicle
# stick velocity
float32 vx
float32 vy
float32 vz
float32 vr
float32 flaps # flap position
float32 aux1
@ -47,3 +56,7 @@ float32 aux4
float32 aux5
float32 aux6
bool arm_gesture
bool disarm_gesture
bool user_override

44
src/modules/manual_control/CMakeLists.txt Normal file
View File

@ -0,0 +1,44 @@
############################################################################
#
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE module__manual_control
MAIN manual_control
COMPILE_FLAGS
SRCS
ManualControl.cpp
ManualControl.cpp
ManualControl.hpp
DEPENDS
px4_work_queue
)

5
src/modules/manual_control/Kconfig Normal file
View File

@ -0,0 +1,5 @@
menuconfig MODULES_MANUAL_CONTROL
bool "manual_control"
default n
---help---
Enable support for manual_control

249
src/modules/manual_control/ManualControl.cpp Normal file
View File

@ -0,0 +1,249 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "ManualControl.hpp"
#include <drivers/drv_hrt.h>
namespace manual_control
{
ManualControl::ManualControl() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
{
}
ManualControl::~ManualControl()
{
perf_free(_loop_perf);
perf_free(_loop_interval_perf);
}
bool ManualControl::init()
{
ScheduleNow();
return true;
}
void ManualControl::Run()
{
if (should_exit()) {
ScheduleClear();
exit_and_cleanup();
return;
}
perf_begin(_loop_perf);
perf_count(_loop_interval_perf);
// Check if parameters have changed
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s param_update;
_parameter_update_sub.copy(&param_update);
updateParams();
_stick_arm_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms);
_stick_disarm_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms);
}
const hrt_abstime rc_timeout = _param_com_rc_loss_t.get() * 1_s;
bool publish_once = false;
int selected_manual_input = -1;
for (int i = 0; i < MAX_MANUAL_INPUT_COUNT; i++) {
manual_control_input_s manual_control_input;
if (_manual_control_input_subs[i].update(&manual_control_input)) {
bool publish = false;
if ((_param_com_rc_in_mode.get() == 0)
&& (manual_control_input.data_source == manual_control_input_s::SOURCE_RC)) {
publish = true;
} else if ((_param_com_rc_in_mode.get() == 1)
&& (manual_control_input.data_source >= manual_control_input_s::SOURCE_MAVLINK_0)) {
publish = true;
} else {
// otherwise, first come, first serve (REVIEW)
publish = true;
}
bool available = (hrt_elapsed_time(&manual_control_input.timestamp) < rc_timeout)
&& (hrt_elapsed_time(&_manual_control_input[i].timestamp) < rc_timeout);
if (publish && available && !publish_once) {
const float dt_inv = 1e6f / static_cast<float>(manual_control_input.timestamp_sample -
_manual_control_input[i].timestamp_sample);
manual_control_setpoint_s manual_control_setpoint{};
manual_control_setpoint.timestamp_sample = manual_control_input.timestamp_sample;
manual_control_setpoint.x = manual_control_input.x;
manual_control_setpoint.y = manual_control_input.y;
manual_control_setpoint.z = manual_control_input.z;
manual_control_setpoint.r = manual_control_input.r;
manual_control_setpoint.vx = (manual_control_input.x - _manual_control_input[i].x) * dt_inv;
manual_control_setpoint.vy = (manual_control_input.y - _manual_control_input[i].y) * dt_inv;
manual_control_setpoint.vz = (manual_control_input.z - _manual_control_input[i].z) * dt_inv;
manual_control_setpoint.vr = (manual_control_input.r - _manual_control_input[i].r) * dt_inv;
manual_control_setpoint.flaps = manual_control_input.flaps;
manual_control_setpoint.aux1 = manual_control_input.aux1;
manual_control_setpoint.aux2 = manual_control_input.aux2;
manual_control_setpoint.aux3 = manual_control_input.aux3;
manual_control_setpoint.aux4 = manual_control_input.aux4;
manual_control_setpoint.aux5 = manual_control_input.aux5;
manual_control_setpoint.aux6 = manual_control_input.aux6;
manual_control_setpoint.data_source = manual_control_input.data_source;
// user arm/disarm gesture
const bool right_stick_centered = (fabsf(manual_control_input.x) < 0.1f) && (fabsf(manual_control_input.y) < 0.1f);
const bool stick_lower_left = (manual_control_input.z < 0.1f) && (manual_control_input.r < -0.9f);
const bool stick_lower_right = (manual_control_input.z < 0.1f) && (manual_control_input.r > 0.9f);
_stick_arm_hysteresis.set_state_and_update(stick_lower_right && right_stick_centered, manual_control_input.timestamp);
_stick_disarm_hysteresis.set_state_and_update(stick_lower_left && right_stick_centered, manual_control_input.timestamp);
manual_control_setpoint.arm_gesture = _stick_arm_hysteresis.get_state();
manual_control_setpoint.disarm_gesture = _stick_disarm_hysteresis.get_state();
// user wants override
const float minimum_stick_change = 0.01f * _param_com_rc_stick_ov.get();
const bool rpy_moved = (fabsf(manual_control_input.x - _manual_control_input[i].x) > minimum_stick_change)
|| (fabsf(manual_control_input.y - _manual_control_input[i].y) > minimum_stick_change)
|| (fabsf(manual_control_input.r - _manual_control_input[i].r) > minimum_stick_change);
// Throttle change value doubled to achieve the same scaling even though the range is [0,1] instead of [-1,1]
const bool throttle_moved = (fabsf(manual_control_input.z - _manual_control_input[i].z) * 2.f > minimum_stick_change);
const bool use_throttle = !(_param_rc_override.get() & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT);
manual_control_setpoint.user_override = rpy_moved || (use_throttle && throttle_moved);
manual_control_setpoint.timestamp = hrt_absolute_time();
_manual_control_setpoint_pub.publish(manual_control_setpoint);
publish_once = true;
selected_manual_input = i;
}
_manual_control_input[i] = manual_control_input;
_available[i] = available;
}
}
if ((selected_manual_input >= 0) && (selected_manual_input != _selected_manual_input)) {
if (_selected_manual_input >= 0) {
PX4_INFO("selected manual_control_input changed %d -> %d", _selected_manual_input, selected_manual_input);
}
_manual_control_input_subs[selected_manual_input].registerCallback();
_selected_manual_input = selected_manual_input;
}
// reschedule timeout
ScheduleDelayed(200_ms);
perf_end(_loop_perf);
}
int ManualControl::task_spawn(int argc, char *argv[])
{
ManualControl *instance = new ManualControl();
if (instance) {
_object.store(instance);
_task_id = task_id_is_work_queue;
if (instance->init()) {
return PX4_OK;
}
} else {
PX4_ERR("alloc failed");
}
delete instance;
_object.store(nullptr);
_task_id = -1;
return PX4_ERROR;
}
int ManualControl::print_status()
{
perf_print_counter(_loop_perf);
perf_print_counter(_loop_interval_perf);
return 0;
}
int ManualControl::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
}
int ManualControl::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("manual_control", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
}; // namespace manual_control
extern "C" __EXPORT int manual_control_main(int argc, char *argv[])
{
return manual_control::ManualControl::main(argc, argv);
}

115
src/modules/manual_control/ManualControl.hpp Normal file
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@ -0,0 +1,115 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/hysteresis/hysteresis.h>
#include <lib/perf/perf_counter.h>
#include <uORB/topics/manual_control_input.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
using namespace time_literals;
namespace manual_control
{
class ManualControl : public ModuleBase<ManualControl>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
ManualControl();
~ManualControl() override;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
bool init();
int print_status() override;
private:
static constexpr int MAX_MANUAL_INPUT_COUNT = 3;
enum OverrideBits {
OVERRIDE_AUTO_MODE_BIT = (1 << 0),
OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1),
OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
};
void Run() override;
uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::SubscriptionCallbackWorkItem _manual_control_input_subs[MAX_MANUAL_INPUT_COUNT] {
{this, ORB_ID(manual_control_input), 0},
{this, ORB_ID(manual_control_input), 1},
{this, ORB_ID(manual_control_input), 2},
};
manual_control_input_s _manual_control_input[MAX_MANUAL_INPUT_COUNT] {};
bool _available[MAX_MANUAL_INPUT_COUNT] {};
int8_t _selected_manual_input{-1};
systemlib::Hysteresis _stick_arm_hysteresis{false};
systemlib::Hysteresis _stick_disarm_hysteresis{false};
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
DEFINE_PARAMETERS(
(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode,
(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov,
(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst
)
};
}; // namespace manual_control

2
src/modules/mavlink/mavlink_main.cpp
View File

@ -2315,8 +2315,6 @@ Mavlink::task_main(int argc, char *argv[])
/* switch HIL mode if required */
set_hil_enabled(vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON);
set_generate_virtual_rc_input(vehicle_status.rc_input_mode == vehicle_status_s::RC_IN_MODE_GENERATED);
if (_mode == MAVLINK_MODE_IRIDIUM) {
if (_transmitting_enabled && vehicle_status.high_latency_data_link_lost &&

18
src/modules/mavlink/mavlink_main.h
View File

@ -318,28 +318,11 @@ public:
*/
int set_hil_enabled(bool hil_enabled);
/**
* Set manual input generation mode
*
* Set to true to generate RC_INPUT messages on the system bus from
* MAVLink messages.
*
* @param generation_enabled If set to true, generate RC_INPUT messages
*/
void set_generate_virtual_rc_input(bool generation_enabled) { _generate_rc = generation_enabled; }
/**
* Set communication protocol for this mavlink instance
*/
void set_protocol(Protocol p) { _protocol = p; }
/**
* Get the manual input generation mode
*
* @return true if manual inputs should generate RC data
*/
bool should_generate_virtual_rc_input() { return _generate_rc; }
/**
* This is the beginning of a MAVLINK_START_UART_SEND/MAVLINK_END_UART_SEND transaction
*/
@ -573,7 +556,6 @@ private:
/* states */
bool _hil_enabled{false}; /**< Hardware In the Loop mode */
bool _generate_rc{false}; /**< Generate RC messages from manual input MAVLink messages */
bool _is_usb_uart{false}; /**< Port is USB */
bool _wait_to_transmit{false}; /**< Wait to transmit until received messages. */
bool _received_messages{false}; /**< Whether we've received valid mavlink messages. */

62
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -2069,16 +2069,14 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
// fill uORB message
input_rc_s rc{};
// metadata
rc.timestamp = hrt_absolute_time();
rc.timestamp_last_signal = rc.timestamp;
rc.timestamp_last_signal = hrt_absolute_time();
rc.rssi = input_rc_s::RSSI_MAX;
rc.rc_failsafe = false;
rc.rc_lost = false;
rc.rc_lost_frame_count = 0;
rc.rc_total_frame_count = 1;
rc.rc_ppm_frame_length = 0;
rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
// channels
@ -2132,55 +2130,15 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
return;
}
if (_mavlink->should_generate_virtual_rc_input()) {
input_rc_s rc{};
rc.timestamp = hrt_absolute_time();
rc.timestamp_last_signal = rc.timestamp;
rc.channel_count = 8;
rc.rc_failsafe = false;
rc.rc_lost = false;
rc.rc_lost_frame_count = 0;
rc.rc_total_frame_count = 1;
rc.rc_ppm_frame_length = 0;
rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
rc.rssi = input_rc_s::RSSI_MAX;
rc.values[0] = man.x / 2 + 1500; // roll
rc.values[1] = man.y / 2 + 1500; // pitch
rc.values[2] = man.r / 2 + 1500; // yaw
rc.values[3] = math::constrain(man.z / 0.9f + 800.0f, 1000.0f, 2000.0f); // throttle
/* decode all switches which fit into the channel mask */
unsigned max_switch = (sizeof(man.buttons) * 8);
unsigned max_channels = (sizeof(rc.values) / sizeof(rc.values[0]));
if (max_switch > (max_channels - 4)) {
max_switch = (max_channels - 4);
}
/* fill all channels */
for (unsigned i = 0; i < max_switch; i++) {
rc.values[i + 4] = decode_switch_pos_n(man.buttons, i);
}
_mom_switch_state = man.buttons;
_rc_pub.publish(rc);
} else {
manual_control_setpoint_s manual{};
manual.timestamp = hrt_absolute_time();
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
_manual_control_setpoint_pub.publish(manual);
}
manual_control_input_s manual{};
manual.timestamp_sample = hrt_absolute_time();
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
manual.data_source = manual_control_input_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual.timestamp = hrt_absolute_time();
_manual_control_input_pub.publish(manual);
}
void

4
src/modules/mavlink/mavlink_receiver.h
View File

@ -80,7 +80,7 @@
#include <uORB/topics/irlock_report.h>
#include <uORB/topics/landing_target_pose.h>
#include <uORB/topics/log_message.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_input.h>
#include <uORB/topics/obstacle_distance.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/onboard_computer_status.h>
@ -331,7 +331,7 @@ private:
uORB::PublicationMulti<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor)};
uORB::PublicationMulti<distance_sensor_s> _flow_distance_sensor_pub{ORB_ID(distance_sensor)};
uORB::PublicationMulti<input_rc_s> _rc_pub{ORB_ID(input_rc)};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
uORB::PublicationMulti<manual_control_input_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
uORB::PublicationMulti<ping_s> _ping_pub{ORB_ID(ping)};
uORB::PublicationMulti<radio_status_s> _radio_status_pub{ORB_ID(radio_status)};

64
src/modules/rc_update/rc_update.cpp
View File

@ -526,7 +526,7 @@ void RCUpdate::Run()
}
// limit processing if there's no update
if (rc_updated || (hrt_elapsed_time(&_last_manual_control_setpoint_publish) > 300_ms)) {
if (rc_updated || (hrt_elapsed_time(&_last_manual_control_input_publish) > 300_ms)) {
UpdateManualSetpoint(input_rc.timestamp_last_signal);
}
@ -661,43 +661,43 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
void RCUpdate::UpdateManualSetpoint(const hrt_abstime &timestamp_sample)
{
manual_control_setpoint_s manual_control_setpoint{};
manual_control_setpoint.timestamp_sample = timestamp_sample;
manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_RC;
manual_control_input_s manual_control_input{};
manual_control_input.timestamp_sample = timestamp_sample;
manual_control_input.data_source = manual_control_input_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.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_input.y = get_rc_value(rc_channels_s::FUNCTION_ROLL, -1.f, 1.f);
manual_control_input.x = get_rc_value(rc_channels_s::FUNCTION_PITCH, -1.f, 1.f);
manual_control_input.r = get_rc_value(rc_channels_s::FUNCTION_YAW, -1.f, 1.f);
manual_control_input.z = get_rc_value(rc_channels_s::FUNCTION_THROTTLE, -1.f, 1.f);
manual_control_input.flaps = get_rc_value(rc_channels_s::FUNCTION_FLAPS, -1.f, 1.f);
manual_control_input.aux1 = get_rc_value(rc_channels_s::FUNCTION_AUX_1, -1.f, 1.f);
manual_control_input.aux2 = get_rc_value(rc_channels_s::FUNCTION_AUX_2, -1.f, 1.f);
manual_control_input.aux3 = get_rc_value(rc_channels_s::FUNCTION_AUX_3, -1.f, 1.f);
manual_control_input.aux4 = get_rc_value(rc_channels_s::FUNCTION_AUX_4, -1.f, 1.f);
manual_control_input.aux5 = get_rc_value(rc_channels_s::FUNCTION_AUX_5, -1.f, 1.f);
manual_control_input.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();
_manual_control_setpoint_pub.publish(manual_control_setpoint);
_last_manual_control_setpoint_publish = manual_control_setpoint.timestamp;
// publish manual_control_input topic
manual_control_input.timestamp = hrt_absolute_time();
_manual_control_input_pub.publish(manual_control_input);
_last_manual_control_input_publish = manual_control_input.timestamp;
actuator_controls_s actuator_group_3{};
// copy in previous actuator control setpoint in case aux{1, 2, 3} isn't changed
_actuator_controls_3_sub.update(&actuator_group_3);
// populate and publish actuator_controls_3 copied from mapped manual_control_setpoint
actuator_group_3.control[0] = manual_control_setpoint.y;
actuator_group_3.control[1] = manual_control_setpoint.x;
actuator_group_3.control[2] = manual_control_setpoint.r;
actuator_group_3.control[3] = manual_control_setpoint.z;
actuator_group_3.control[4] = manual_control_setpoint.flaps;
// populate and publish actuator_controls_3 copied from mapped manual_control_input
actuator_group_3.control[0] = manual_control_input.y;
actuator_group_3.control[1] = manual_control_input.x;
actuator_group_3.control[2] = manual_control_input.r;
actuator_group_3.control[3] = manual_control_input.z;
actuator_group_3.control[4] = manual_control_input.flaps;
float new_aux_values[3];
new_aux_values[0] = manual_control_setpoint.aux1;
new_aux_values[1] = manual_control_setpoint.aux2;
new_aux_values[2] = manual_control_setpoint.aux3;
new_aux_values[0] = manual_control_input.aux1;
new_aux_values[1] = manual_control_input.aux2;
new_aux_values[2] = manual_control_input.aux3;
// if AUX RC was already active, we update. otherwise, we check
// if there is a major stick movement to re-activate RC mode
@ -705,7 +705,7 @@ void RCUpdate::UpdateManualSetpoint(const hrt_abstime &timestamp_sample)
// detect a big stick movement
for (int i = 0; i < 3; i++) {
if (fabsf(_last_manual_control_setpoint[i] - new_aux_values[i]) > 0.1f) {
if (fabsf(_last_manual_control_input[i] - new_aux_values[i]) > 0.1f) {
major_movement[i] = true;
}
}
@ -713,14 +713,14 @@ void RCUpdate::UpdateManualSetpoint(const hrt_abstime &timestamp_sample)
for (int i = 0; i < 3; i++) {
// if someone else (DO_SET_ACTUATOR) updated the actuator control
// and we haven't had a major movement, switch back to automatic control
if ((fabsf(_last_manual_control_setpoint[i] - actuator_group_3.control[5 + i])
if ((fabsf(_last_manual_control_input[i] - actuator_group_3.control[5 + i])
> 0.0001f) && (!major_movement[i])) {
_aux_already_active[i] = false;
}
if (_aux_already_active[i] || major_movement[i]) {
_aux_already_active[i] = true;
_last_manual_control_setpoint[i] = new_aux_values[i];
_last_manual_control_input[i] = new_aux_values[i];
actuator_group_3.control[5 + i] = new_aux_values[i];
}
@ -789,7 +789,7 @@ int RCUpdate::print_usage(const char *reason)
### Description
The rc_update module handles RC channel mapping: read the raw input channels (`input_rc`),
then apply the calibration, map the RC channels to the configured channels & mode switches
and then publish as `rc_channels` and `manual_control_setpoint`.
and then publish as `rc_channels` and `manual_control_input`.
### Implementation
To reduce control latency, the module is scheduled on input_rc publications.

8
src/modules/rc_update/rc_update.h
View File

@ -53,7 +53,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_input.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/rc_channels.h>
@ -166,7 +166,7 @@ private:
uORB::Subscription _actuator_controls_3_sub{ORB_ID(actuator_controls_3)};
uORB::Publication<rc_channels_s> _rc_channels_pub{ORB_ID(rc_channels)};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
uORB::PublicationMulti<manual_control_input_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
uORB::Publication<manual_control_switches_s> _manual_control_switches_pub{ORB_ID(manual_control_switches)};
uORB::Publication<actuator_controls_s> _actuator_group_3_pub{ORB_ID(actuator_controls_3)};
@ -177,12 +177,12 @@ private:
rc_parameter_map_s _rc_parameter_map {};
float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN] {}; /**< parameter values for RC control */
hrt_abstime _last_manual_control_setpoint_publish{0};
hrt_abstime _last_manual_control_input_publish{0};
hrt_abstime _last_rc_to_param_map_time{0};
hrt_abstime _last_timestamp_signal{0};
uint16_t _rc_values_previous[RC_MAX_CHAN_COUNT] {};
float _last_manual_control_setpoint[3] {};
float _last_manual_control_input[3] {};
bool _aux_already_active[3] = {false, false, false};
uint8_t _channel_count_previous{0};