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rc_update: cleanup parameter usage
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
acd18adc18
commit
57fc98812d
@@ -39,7 +39,7 @@
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#include "rc_update.h"
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#include "parameters.h"
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using namespace time_literals;
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namespace RCUpdate
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{
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@@ -47,13 +47,41 @@ namespace RCUpdate
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RCUpdate::RCUpdate() :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME)),
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_filter_roll(50.0f, 10.f), /* get replaced by parameter */
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_filter_pitch(50.0f, 10.f),
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_filter_yaw(50.0f, 10.f),
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_filter_throttle(50.0f, 10.f)
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME))
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{
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initialize_parameter_handles(_parameter_handles);
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// initialize parameter handles
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for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) {
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char nbuf[16];
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/* min values */
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sprintf(nbuf, "RC%d_MIN", i + 1);
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_parameter_handles.min[i] = param_find(nbuf);
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/* trim values */
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sprintf(nbuf, "RC%d_TRIM", i + 1);
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_parameter_handles.trim[i] = param_find(nbuf);
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/* max values */
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sprintf(nbuf, "RC%d_MAX", i + 1);
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_parameter_handles.max[i] = param_find(nbuf);
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/* channel reverse */
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sprintf(nbuf, "RC%d_REV", i + 1);
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_parameter_handles.rev[i] = param_find(nbuf);
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/* channel deadzone */
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sprintf(nbuf, "RC%d_DZ", i + 1);
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_parameter_handles.dz[i] = param_find(nbuf);
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}
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// RC to parameter mapping for changing parameters with RC
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for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
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// shifted by 1 because param name starts at 1
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char name[rc_parameter_map_s::PARAM_ID_LEN];
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snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1);
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_parameter_handles.rc_map_param[i] = param_find(name);
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}
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rc_parameter_map_poll(true /* forced */);
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parameters_updated();
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@@ -78,8 +106,46 @@ RCUpdate::init()
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void
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RCUpdate::parameters_updated()
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{
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/* read the parameter values into _parameters */
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update_parameters(_parameter_handles, _parameters);
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if (_param_rc_flt_smp_rate.get() < 1.0f) {
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_param_rc_flt_smp_rate.set(1.0f);
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_param_rc_flt_smp_rate.commit_no_notification();
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}
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// make sure the filter is in its stable region -> fc < fs/2
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const float flt_cutoff_min = _param_rc_flt_smp_rate.get() / 2.0f - 1.0f;
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if (_param_rc_flt_cutoff.get() < flt_cutoff_min) {
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_param_rc_flt_cutoff.set(flt_cutoff_min);
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_param_rc_flt_cutoff.commit_no_notification();
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}
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// rc values
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for (unsigned int i = 0; i < RC_MAX_CHAN_COUNT; i++) {
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float min = 0.0f;
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param_get(_parameter_handles.min[i], &min);
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_parameters.min[i] = min;
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float trim = 0.0f;
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param_get(_parameter_handles.trim[i], &trim);
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_parameters.trim[i] = trim;
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float max = 0.0f;
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param_get(_parameter_handles.max[i], &max);
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_parameters.max[i] = max;
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float rev = 0.0f;
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param_get(_parameter_handles.rev[i], &rev);
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_parameters.rev[i] = rev < 0.0f;
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float dz = 0.0f;
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param_get(_parameter_handles.dz[i], &dz);
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_parameters.dz[i] = dz;
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}
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for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
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param_get(_parameter_handles.rc_map_param[i], &(_parameters.rc_map_param[i]));
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}
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update_rc_functions();
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}
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@@ -88,43 +154,43 @@ void
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RCUpdate::update_rc_functions()
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{
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/* update RC function mappings */
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _param_rc_map_throttle.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _param_rc_map_roll.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _param_rc_map_pitch.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _param_rc_map_yaw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE] = _parameters.rc_map_rattitude_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _parameters.rc_map_kill_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH] = _parameters.rc_map_arm_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _parameters.rc_map_trans_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_GEAR] = _parameters.rc_map_gear_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_STAB] = _parameters.rc_map_stab_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MAN] = _parameters.rc_map_man_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _param_rc_map_mode_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _param_rc_map_return_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE] = _param_rc_map_ratt_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _param_rc_map_posctl_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _param_rc_map_loiter_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _param_rc_map_acro_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _param_rc_map_offb_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _param_rc_map_kill_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH] = _param_rc_map_arm_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _param_rc_map_trans_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_GEAR] = _param_rc_map_gear_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_STAB] = _param_rc_map_stab_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MAN] = _param_rc_map_man_sw.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _param_rc_map_flaps.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6] = _parameters.rc_map_aux6 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _param_rc_map_aux1.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _param_rc_map_aux2.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _param_rc_map_aux3.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _param_rc_map_aux4.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _param_rc_map_aux5.get() - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6] = _param_rc_map_aux6.get() - 1;
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for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
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}
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/* update the RC low pass filter frequencies */
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_filter_roll.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
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_filter_pitch.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
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_filter_yaw.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
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_filter_throttle.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
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_filter_roll.set_cutoff_frequency(_param_rc_flt_smp_rate.get(), _param_rc_flt_cutoff.get());
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_filter_pitch.set_cutoff_frequency(_param_rc_flt_smp_rate.get(), _param_rc_flt_cutoff.get());
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_filter_yaw.set_cutoff_frequency(_param_rc_flt_smp_rate.get(), _param_rc_flt_cutoff.get());
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_filter_throttle.set_cutoff_frequency(_param_rc_flt_smp_rate.get(), _param_rc_flt_cutoff.get());
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_filter_roll.reset(0.f);
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_filter_pitch.reset(0.f);
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_filter_yaw.reset(0.f);
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@@ -242,6 +308,7 @@ RCUpdate::set_params_from_rc()
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float param_val = math::constrain(
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_rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val,
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_rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]);
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param_set(_parameter_handles.rc_param[i], ¶m_val);
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}
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}
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@@ -289,16 +356,16 @@ RCUpdate::Run()
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signal_lost = false;
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/* check failsafe */
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int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle
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int8_t fs_ch = _rc.function[_param_rc_map_failsafe.get()]; // get channel mapped to throttle
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if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping
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fs_ch = _parameters.rc_map_failsafe - 1;
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if (_param_rc_map_failsafe.get() > 0) { // if not 0, use channel number instead of rc.function mapping
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fs_ch = _param_rc_map_failsafe.get() - 1;
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}
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if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) {
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if (_param_rc_fails_thr.get() > 0 && fs_ch >= 0) {
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/* failsafe configured */
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if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) ||
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(_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) {
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if ((_param_rc_fails_thr.get() < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _param_rc_fails_thr.get()) ||
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(_param_rc_fails_thr.get() > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _param_rc_fails_thr.get())) {
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/* failsafe triggered, signal is lost by receiver */
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signal_lost = true;
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}
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@@ -317,13 +384,7 @@ RCUpdate::Run()
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/*
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* 1) Constrain to min/max values, as later processing depends on bounds.
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*/
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if (rc_input.values[i] < _parameters.min[i]) {
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rc_input.values[i] = _parameters.min[i];
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}
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if (rc_input.values[i] > _parameters.max[i]) {
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rc_input.values[i] = _parameters.max[i];
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}
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rc_input.values[i] = math::constrain(rc_input.values[i], _parameters.min[i], _parameters.max[i]);
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/*
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* 2) Scale around the mid point differently for lower and upper range.
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@@ -354,7 +415,10 @@ RCUpdate::Run()
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_rc.channels[i] = 0.0f;
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}
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_rc.channels[i] *= _parameters.rev[i];
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if (_parameters.rev[i]) {
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_rc.channels[i] = -1.0f * _rc.channels[i];
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}
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/* handle any parameter-induced blowups */
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if (!PX4_ISFINITE(_rc.channels[i])) {
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@@ -401,7 +465,7 @@ RCUpdate::Run()
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manual.r = math::constrain(_filter_yaw.apply(manual.r), -1.f, 1.f);
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manual.z = math::constrain(_filter_throttle.apply(manual.z), 0.f, 1.f);
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if (_parameters.rc_map_flightmode > 0) {
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if (_param_rc_map_fltmode.get() > 0) {
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/* number of valid slots */
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const int num_slots = manual_control_setpoint_s::MODE_SLOT_NUM;
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@@ -419,7 +483,7 @@ RCUpdate::Run()
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* slots. And finally we add half a slot width to ensure that integer rounding
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* will take us to the correct final index.
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*/
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manual.mode_slot = (((((_rc.channels[_parameters.rc_map_flightmode - 1] - slot_min) * num_slots) + slot_width_half) /
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manual.mode_slot = (((((_rc.channels[_param_rc_map_fltmode.get() - 1] - slot_min) * num_slots) + slot_width_half) /
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(slot_max - slot_min)) + (1.0f / num_slots)) + 1;
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if (manual.mode_slot > num_slots) {
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@@ -428,33 +492,34 @@ RCUpdate::Run()
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}
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/* mode switches */
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manual.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th,
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_parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
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manual.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE,
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_param_rc_auto_th.get(), _param_rc_auto_th.get() < 0.f,
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_param_rc_assist_th.get(), _param_rc_assist_th.get() < 0.f);
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manual.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE,
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_parameters.rc_rattitude_th,
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_parameters.rc_rattitude_inv);
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manual.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th,
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_parameters.rc_posctl_inv);
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manual.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th,
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_parameters.rc_return_inv);
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manual.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th,
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_parameters.rc_loiter_inv);
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manual.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th,
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_parameters.rc_acro_inv);
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_param_rc_ratt_th.get(), _param_rc_ratt_th.get() < 0.f);
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manual.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL,
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_param_rc_posctl_th.get(), _param_rc_posctl_th.get() < 0.f);
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manual.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN,
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_param_rc_return_th.get(), _param_rc_return_th.get() < 0.f);
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manual.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER,
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_param_rc_loiter_th.get(), _param_rc_loiter_th.get() < 0.f);
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manual.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO,
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_param_rc_acro_th.get(), _param_rc_acro_th.get() < 0.f);
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manual.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD,
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_parameters.rc_offboard_th, _parameters.rc_offboard_inv);
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_param_rc_offb_th.get(), _param_rc_offb_th.get() < 0.f);
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manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH,
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_parameters.rc_killswitch_th, _parameters.rc_killswitch_inv);
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_param_rc_killswitch_th.get(), _param_rc_killswitch_th.get() < 0.f);
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manual.arm_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH,
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_parameters.rc_armswitch_th, _parameters.rc_armswitch_inv);
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_param_rc_armswitch_th.get(), _param_rc_armswitch_th.get() < 0.f);
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manual.transition_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION,
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_parameters.rc_trans_th, _parameters.rc_trans_inv);
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_param_rc_trans_th.get(), _param_rc_trans_th.get() < 0.f);
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manual.gear_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_GEAR,
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_parameters.rc_gear_th, _parameters.rc_gear_inv);
|
||||
_param_rc_gear_th.get(), _param_rc_gear_th.get() < 0.f);
|
||||
manual.stab_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_STAB,
|
||||
_parameters.rc_stab_th, _parameters.rc_stab_inv);
|
||||
_param_rc_stab_th.get(), _param_rc_stab_th.get() < 0.f);
|
||||
manual.man_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MAN,
|
||||
_parameters.rc_man_th, _parameters.rc_man_inv);
|
||||
_param_rc_man_th.get(), _param_rc_man_th.get() < 0.f);
|
||||
|
||||
/* publish manual_control_setpoint topic */
|
||||
_manual_control_pub.publish(manual);
|
||||
@@ -477,7 +542,7 @@ RCUpdate::Run()
|
||||
_actuator_group_3_pub.publish(actuator_group_3);
|
||||
|
||||
/* Update parameters from RC Channels (tuning with RC) if activated */
|
||||
if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1e6) {
|
||||
if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1_s) {
|
||||
set_params_from_rc();
|
||||
_last_rc_to_param_map_time = hrt_absolute_time();
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user