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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 07:53:34 +08:00
'signal_lost' flag added to manual_control_setpoint and rc_channels topics to indicate signal loss immediately
This commit is contained in:
Anton Babushkin
+131
-119
@@ -474,6 +474,7 @@ Sensors::Sensors() :
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_battery_discharged(0),
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_battery_current_timestamp(0)
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{
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memset(&_rc, 0, sizeof(_rc));
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/* basic r/c parameters */
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for (unsigned i = 0; i < _rc_max_chan_count; i++) {
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@@ -1283,12 +1284,6 @@ Sensors::rc_poll()
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if (rc_updated) {
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/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
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struct rc_input_values rc_input;
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orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
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if (rc_input.rc_lost)
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return;
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struct manual_control_setpoint_s manual_control;
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struct actuator_controls_s actuator_group_3;
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@@ -1311,19 +1306,28 @@ Sensors::rc_poll()
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manual_control.aux4 = NAN;
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manual_control.aux5 = NAN;
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/* require at least four channels to consider the signal valid */
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if (rc_input.channel_count < 4)
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return;
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manual_control.signal_lost = true;
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/* failsafe check */
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if (_parameters.rc_fs_ch != 0) {
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if (_parameters.rc_fs_mode == 0) {
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if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr)
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return;
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orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
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} else if (_parameters.rc_fs_mode == 1) {
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if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr)
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return;
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/* detect RC signal loss */
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/* check flags and require at least four channels to consider the signal valid */
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if (!(rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4)) {
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/* signal looks good */
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manual_control.signal_lost = false;
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/* check throttle failsafe */
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if (_parameters.rc_fs_ch != 0) {
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if (_parameters.rc_fs_mode == 0) {
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if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr) {
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manual_control.signal_lost = true;
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}
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} else if (_parameters.rc_fs_mode == 1) {
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if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr) {
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manual_control.signal_lost = true;
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}
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}
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}
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}
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@@ -1332,10 +1336,7 @@ Sensors::rc_poll()
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if (channel_limit > _rc_max_chan_count)
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channel_limit = _rc_max_chan_count;
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/* we are accepting this message */
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_rc_last_valid = rc_input.timestamp_last_signal;
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/* Read out values from raw message */
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/* read out and scale values from raw message even if signal is invalid */
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for (unsigned int i = 0; i < channel_limit; i++) {
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/*
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@@ -1382,105 +1383,124 @@ Sensors::rc_poll()
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}
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_rc.chan_count = rc_input.channel_count;
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_rc.timestamp = rc_input.timestamp_last_signal;
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_rc.rssi = rc_input.rssi;
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_rc.signal_lost = manual_control.signal_lost;
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manual_control.timestamp = rc_input.timestamp_last_signal;
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/* roll input - rolling right is stick-wise and rotation-wise positive */
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manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled);
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/*
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* pitch input - stick down is negative, but stick down is pitching up (pos) in NED,
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* so reverse sign.
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*/
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manual_control.pitch = limit_minus_one_to_one(-1.0f * _rc.chan[_rc.function[PITCH]].scaled);
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/* yaw input - stick right is positive and positive rotation */
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manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled);
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/* throttle input */
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manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
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if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
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if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
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/* scale output */
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if (isfinite(_parameters.rc_scale_roll) && _parameters.rc_scale_roll > 0.0f) {
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manual_control.roll *= _parameters.rc_scale_roll;
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if (!manual_control.signal_lost) {
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_rc_last_valid = rc_input.timestamp_last_signal;
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}
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if (isfinite(_parameters.rc_scale_pitch) && _parameters.rc_scale_pitch > 0.0f) {
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manual_control.pitch *= _parameters.rc_scale_pitch;
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}
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_rc.timestamp = _rc_last_valid;
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if (isfinite(_parameters.rc_scale_yaw) && _parameters.rc_scale_yaw > 0.0f) {
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manual_control.yaw *= _parameters.rc_scale_yaw;
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}
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manual_control.timestamp = _rc_last_valid;
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/* flaps */
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if (_rc.function[FLAPS] >= 0) {
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if (!manual_control.signal_lost) {
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/* fill values in manual_control_setpoint topic only if signal is valid */
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manual_control.flaps = limit_minus_one_to_one(_rc.chan[_rc.function[FLAPS]].scaled);
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/* roll input - rolling right is stick-wise and rotation-wise positive */
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manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled);
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/*
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* pitch input - stick down is negative, but stick down is pitching up (pos) in NED,
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* so reverse sign.
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*/
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manual_control.pitch = limit_minus_one_to_one(-1.0f * _rc.chan[_rc.function[PITCH]].scaled);
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/* yaw input - stick right is positive and positive rotation */
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manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled);
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/* throttle input */
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manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
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if (isfinite(_parameters.rc_scale_flaps) && _parameters.rc_scale_flaps > 0.0f) {
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manual_control.flaps *= _parameters.rc_scale_flaps;
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if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
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if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
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/* scale output */
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if (isfinite(_parameters.rc_scale_roll) && _parameters.rc_scale_roll > 0.0f) {
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manual_control.roll *= _parameters.rc_scale_roll;
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}
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if (isfinite(_parameters.rc_scale_pitch) && _parameters.rc_scale_pitch > 0.0f) {
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manual_control.pitch *= _parameters.rc_scale_pitch;
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}
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if (isfinite(_parameters.rc_scale_yaw) && _parameters.rc_scale_yaw > 0.0f) {
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manual_control.yaw *= _parameters.rc_scale_yaw;
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}
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/* flaps */
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if (_rc.function[FLAPS] >= 0) {
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manual_control.flaps = limit_minus_one_to_one(_rc.chan[_rc.function[FLAPS]].scaled);
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if (isfinite(_parameters.rc_scale_flaps) && _parameters.rc_scale_flaps > 0.0f) {
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manual_control.flaps *= _parameters.rc_scale_flaps;
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}
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}
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/* mode switch input */
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if (_rc.function[MODE] >= 0) {
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manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
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}
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/* assisted switch input */
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if (_rc.function[ASSISTED] >= 0) {
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manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
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}
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/* mission switch input */
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if (_rc.function[MISSION] >= 0) {
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manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
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}
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/* return switch input */
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if (_rc.function[RETURN] >= 0) {
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manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
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}
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// if (_rc.function[OFFBOARD_MODE] >= 0) {
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// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
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// }
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/* aux functions, only assign if valid mapping is present */
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if (_rc.function[AUX_1] >= 0) {
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manual_control.aux1 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_1]].scaled);
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}
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if (_rc.function[AUX_2] >= 0) {
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manual_control.aux2 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_2]].scaled);
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}
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if (_rc.function[AUX_3] >= 0) {
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manual_control.aux3 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_3]].scaled);
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}
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if (_rc.function[AUX_4] >= 0) {
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manual_control.aux4 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_4]].scaled);
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}
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if (_rc.function[AUX_5] >= 0) {
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manual_control.aux5 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_5]].scaled);
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}
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/* copy from mapped manual control to control group 3 */
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actuator_group_3.control[0] = manual_control.roll;
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actuator_group_3.control[1] = manual_control.pitch;
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actuator_group_3.control[2] = manual_control.yaw;
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actuator_group_3.control[3] = manual_control.throttle;
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actuator_group_3.control[4] = manual_control.flaps;
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actuator_group_3.control[5] = manual_control.aux1;
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actuator_group_3.control[6] = manual_control.aux2;
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actuator_group_3.control[7] = manual_control.aux3;
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/* publish actuator_controls_3 topic only if control signal is valid */
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if (_actuator_group_3_pub > 0) {
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orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
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} else {
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_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
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}
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}
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/* mode switch input */
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if (_rc.function[MODE] >= 0) {
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manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
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}
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/* assisted switch input */
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if (_rc.function[ASSISTED] >= 0) {
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manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
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}
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/* mission switch input */
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if (_rc.function[MISSION] >= 0) {
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manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
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}
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/* return switch input */
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if (_rc.function[RETURN] >= 0) {
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manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
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}
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// if (_rc.function[OFFBOARD_MODE] >= 0) {
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// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
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// }
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/* aux functions, only assign if valid mapping is present */
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if (_rc.function[AUX_1] >= 0) {
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manual_control.aux1 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_1]].scaled);
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}
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if (_rc.function[AUX_2] >= 0) {
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manual_control.aux2 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_2]].scaled);
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}
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if (_rc.function[AUX_3] >= 0) {
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manual_control.aux3 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_3]].scaled);
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}
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if (_rc.function[AUX_4] >= 0) {
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manual_control.aux4 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_4]].scaled);
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}
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if (_rc.function[AUX_5] >= 0) {
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manual_control.aux5 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_5]].scaled);
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}
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/* copy from mapped manual control to control group 3 */
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actuator_group_3.control[0] = manual_control.roll;
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actuator_group_3.control[1] = manual_control.pitch;
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actuator_group_3.control[2] = manual_control.yaw;
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actuator_group_3.control[3] = manual_control.throttle;
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actuator_group_3.control[4] = manual_control.flaps;
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actuator_group_3.control[5] = manual_control.aux1;
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actuator_group_3.control[6] = manual_control.aux2;
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actuator_group_3.control[7] = manual_control.aux3;
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/* check if ready for publishing */
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/* publish rc_channels topic even if signal is invalid, for debug */
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if (_rc_pub > 0) {
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orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
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@@ -1489,21 +1509,13 @@ Sensors::rc_poll()
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_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
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}
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/* check if ready for publishing */
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/* publish manual_control_setpoint topic even if signal is not valid to update 'signal_lost' flag */
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if (_manual_control_pub > 0) {
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orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
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} else {
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_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
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}
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/* check if ready for publishing */
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if (_actuator_group_3_pub > 0) {
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orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
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} else {
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_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
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}
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}
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}
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