fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

added transition switch

Browse Source
This commit is contained in:
Roman 2016-07-19 11:37:54 +02:00 committed by Lorenz Meier
parent 302719527a
commit 499d362b8b
4 changed files with 67 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
msg/manual_control_setpoint.msg
View File

@ -51,4 +51,5 @@ uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
uint8 kill_switch # throttle kill: _NORMAL_, KILL
uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT
int8 mode_slot # the slot a specific model selector is in

3
msg/rc_channels.msg
View File

@ -20,11 +20,12 @@ uint8 RC_CHANNELS_FUNCTION_PARAM_2=17
uint8 RC_CHANNELS_FUNCTION_PARAM_3_5=18
uint8 RC_CHANNELS_FUNCTION_RATTITUDE=19
uint8 RC_CHANNELS_FUNCTION_KILLSWITCH=20
uint8 RC_CHANNELS_FUNCTION_TRANSITION=21
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[21] function # Functions mapping
int8[22] function # Functions mapping
uint8 rssi # Receive signal strength indicator (0-100)
bool signal_lost # Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count # Number of dropped frames

46
src/modules/sensors/sensor_params.c
View File

@ -2516,6 +2516,34 @@ PARAM_DEFINE_INT32(RC_MAP_KILL_SW, 0);
*/
PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
/**
* VTOL transition switch channel mapping
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_TRANS_SW, 0);
/**
* AUX1 Passthrough RC Channel
*
@ -2930,6 +2958,24 @@ PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);
*/
PARAM_DEFINE_FLOAT(RC_KILLSWITCH_TH, 0.25f);
/**
* Threshold for the VTOL transition switch
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_TRANS_TH, 0.25f);
/**
* PWM input channel that provides RSSI.
*

18
src/modules/sensors/sensors.cpp
View File

@ -305,6 +305,7 @@ private:
int rc_map_acro_sw;
int rc_map_offboard_sw;
int rc_map_kill_sw;
int rc_map_trans_sw;
int rc_map_flaps;
@ -328,6 +329,7 @@ private:
float rc_acro_th;
float rc_offboard_th;
float rc_killswitch_th;
float rc_trans_th;
bool rc_assist_inv;
bool rc_auto_inv;
bool rc_rattitude_inv;
@ -337,6 +339,7 @@ private:
bool rc_acro_inv;
bool rc_offboard_inv;
bool rc_killswitch_inv;
bool rc_trans_inv;
float battery_voltage_scaling;
float battery_current_scaling;
@ -375,6 +378,7 @@ private:
param_t rc_map_acro_sw;
param_t rc_map_offboard_sw;
param_t rc_map_kill_sw;
param_t rc_map_trans_sw;
param_t rc_map_flaps;
@ -402,6 +406,7 @@ private:
param_t rc_acro_th;
param_t rc_offboard_th;
param_t rc_killswitch_th;
param_t rc_trans_th;
param_t battery_voltage_scaling;
param_t battery_current_scaling;
@ -650,6 +655,7 @@ Sensors::Sensors() :
_parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW");
_parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW");
_parameter_handles.rc_map_kill_sw = param_find("RC_MAP_KILL_SW");
_parameter_handles.rc_map_trans_sw = param_find("RC_MAP_TRANS_SW");
_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
@ -678,6 +684,8 @@ Sensors::Sensors() :
_parameter_handles.rc_acro_th = param_find("RC_ACRO_TH");
_parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
_parameter_handles.rc_killswitch_th = param_find("RC_KILLSWITCH_TH");
_parameter_handles.rc_trans_th = param_find("RC_TRANS_TH");
/* Differential pressure offset */
_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
@ -850,6 +858,10 @@ Sensors::parameters_update()
PX4_WARN("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_trans_sw, &(_parameters.rc_map_trans_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
PX4_WARN("%s", paramerr);
}
@ -894,6 +906,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_killswitch_th, &(_parameters.rc_killswitch_th));
_parameters.rc_killswitch_inv = (_parameters.rc_killswitch_th < 0);
_parameters.rc_killswitch_th = fabs(_parameters.rc_killswitch_th);
param_get(_parameter_handles.rc_trans_th, &(_parameters.rc_trans_th));
_parameters.rc_trans_inv = (_parameters.rc_trans_th < 0);
_parameters.rc_trans_th = fabs(_parameters.rc_trans_th);
/* update RC function mappings */
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
@ -909,6 +924,7 @@ Sensors::parameters_update()
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _parameters.rc_map_kill_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _parameters.rc_map_trans_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
@ -2112,6 +2128,8 @@ Sensors::rc_poll()
_parameters.rc_offboard_th, _parameters.rc_offboard_inv);
manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH,
_parameters.rc_killswitch_th, _parameters.rc_killswitch_inv);
manual.transition_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION,
_parameters.rc_trans_th, _parameters.rc_trans_inv);
/* publish manual_control_setpoint topic */
if (_manual_control_pub != nullptr) {