fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-13 12:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Moved the channel mappings and attributes to the config section

Browse Source
This commit is contained in:
Simon Wilks
2013-01-06 04:21:04 +01:00
parent 0a89ab7075
commit 7842caf3b2
6 changed files with 78 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/drivers/px4io/px4io.cpp
+47 -36
View File
@@ -222,7 +222,7 @@ PX4IO::PX4IO() :
_relays(0),
_switch_armed(false),
_send_needed(false),
_config_needed(false)
_config_needed(true)
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
@@ -447,12 +447,6 @@ PX4IO::task_main()
}
}
/* send an update to IO if required */
if (_send_needed) {
_send_needed = false;
io_send();
}
/* send a config packet to IO if required */
if (_config_needed) {
_config_needed = false;
@@ -467,6 +461,12 @@ PX4IO::task_main()
_mix_buf = nullptr;
_mix_buf_len = 0;
}
/* send an update to IO if required */
if (_send_needed) {
_send_needed = false;
io_send();
}
}
unlock();
@@ -608,35 +608,6 @@ PX4IO::io_send()
cmd.manual_override_ok = _vstatus.flag_external_manual_override_ok;
/* set desired PWM output rate */
cmd.servo_rate = _update_rate;
/* maintaing the standard order of Roll, Pitch, Yaw, Throttle */
cmd.rc_map[0] = param_find("RC_MAP_ROLL");
cmd.rc_map[1] = param_find("RC_MAP_PITCH");
cmd.rc_map[2] = param_find("RC_MAP_YAW");
cmd.rc_map[3] = param_find("RC_MAP_THROTTLE");
/* set the individual channel properties */
char nbuf[16];
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MIN", i);
cmd.rc_min[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_TRIM", i);
cmd.rc_trim[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MAX", i);
cmd.rc_max[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_REV", i);
cmd.rc_rev[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_DZ", i);
cmd.rc_dz[i] = (uint16_t)param_find(nbuf);
}
ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd));
@@ -652,6 +623,46 @@ PX4IO::config_send()
cfg.f2i_config_magic = F2I_CONFIG_MAGIC;
int val;
/* maintaing the standard order of Roll, Pitch, Yaw, Throttle */
param_get(param_find("RC_MAP_ROLL"), &val);
cfg.rc_map[0] = (uint8_t)val;
param_get(param_find("RC_MAP_PITCH"), &val);
cfg.rc_map[1] = (uint8_t)val;
param_get(param_find("RC_MAP_YAW"), &val);
cfg.rc_map[2] = (uint8_t)val;
param_get(param_find("RC_MAP_THROTTLE"), &val);
cfg.rc_map[3] = (uint8_t)val;
/* set the individual channel properties */
char nbuf[16];
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MIN", i);
param_get(param_find(nbuf), &val);
cfg.rc_min[i] = (uint16_t)val;
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_TRIM", i);
param_get(param_find(nbuf), &val);
cfg.rc_trim[i] = (uint16_t)val;
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MAX", i);
param_get(param_find(nbuf), &val);
cfg.rc_max[i] = (uint16_t)val;
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_REV", i);
param_get(param_find(nbuf), &val);
cfg.rc_rev[i] = (uint16_t)val;
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_DZ", i);
param_get(param_find(nbuf), &val);
cfg.rc_dz[i] = (uint16_t)val;
}
ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg));
if (ret)
apps/px4io/comms.c
+14 -13
View File
@@ -162,6 +162,20 @@ comms_handle_config(const void *buffer, size_t length)
}
frame_rx++;
/* fetch the rc mappings */
for (unsigned i = 0; i < 4; i++) {
system_state.rc_map[i] = cfg->rc_map[i];
}
/* fetch the rc channel attributes */
for (unsigned i = 0; i < 4; i++) {
system_state.rc_min[i] = cfg->rc_min[i];
system_state.rc_trim[i] = cfg->rc_trim[i];
system_state.rc_max[i] = cfg->rc_max[i];
system_state.rc_rev[i] = cfg->rc_rev[i];
system_state.rc_dz[i] = cfg->rc_dz[i];
}
}
static void
@@ -207,19 +221,6 @@ comms_handle_command(const void *buffer, size_t length)
system_state.servo_rate = new_servo_rate;
}
/* fetch the rc mappings */
for (unsigned i = 0; i < 4; i++)
system_state.rc_map[i] = cmd->rc_map[i];
/* fetch the rc channel attributes */
for (unsigned i = 0; i < 4; i++) {
system_state.rc_min[i] = cmd->rc_min[i];
system_state.rc_trim[i] = cmd->rc_trim[i];
system_state.rc_max[i] = cmd->rc_max[i];
system_state.rc_rev[i] = cmd->rc_rev[i];
system_state.rc_dz[i] = cmd->rc_dz[i];
}
/*
* update servo values immediately.
* the updates are done in addition also
apps/px4io/controls.c
+2 -1
View File
@@ -172,8 +172,9 @@ ppm_input(void)
/* PPM data exists, copy it */
system_state.rc_channels = ppm_decoded_channels;
for (unsigned i = 0; i < ppm_decoded_channels; i++)
for (unsigned i = 0; i < ppm_decoded_channels; i++) {
system_state.rc_channel_data[i] = ppm_buffer[i];
}
/* copy the timestamp and clear it */
system_state.rc_channels_timestamp = ppm_last_valid_decode;
apps/px4io/mixer.cpp
+7 -5
View File
@@ -99,7 +99,7 @@ mixer_tick(void)
/* too many frames without FMU input, time to go to failsafe */
system_state.mixer_manual_override = true;
system_state.mixer_fmu_available = false;
//lib_lowprintf("RX timeout\n");
lib_lowprintf("RX timeout\n");
}
/*
@@ -121,10 +121,10 @@ mixer_tick(void)
sched_lock();
/* remap roll, pitch, yaw and throttle from RC specific to internal ordering */
rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL]];
rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH]];
rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW]];
rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE]];
rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL] - 1];
rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1];
rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1];
rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1];
/* get the remaining channels, no remapping needed */
for (unsigned i = 4; i < system_state.rc_channels; i++)
@@ -133,6 +133,8 @@ mixer_tick(void)
/* scale the control inputs */
rc_channel_data[THROTTLE] = ((rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) /
(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000 + 1000;
//lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
// system_state.rc_min[THROTTLE], system_state.rc_trim[THROTTLE], system_state.rc_max[THROTTLE], rc_channel_data[THROTTLE]);
control_values = &rc_channel_data[0];
sched_unlock();
apps/px4io/protocol.h
+6 -7
View File
@@ -60,12 +60,6 @@ struct px4io_command {
bool arm_ok; /**< FMU allows full arming */
bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */
bool manual_override_ok; /**< if true, IO performs a direct manual override */
uint16_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */
uint16_t rc_min[4]; /**< min value for each channel */
uint16_t rc_trim[4]; /**< trim value for each channel */
uint16_t rc_max[4]; /**< max value for each channel */
uint16_t rc_rev[4]; /**< rev value for each channel */
uint16_t rc_dz[4]; /**< dz value for each channel */
};
/**
@@ -87,7 +81,12 @@ struct px4io_config {
uint16_t f2i_config_magic;
#define F2I_CONFIG_MAGIC 0x6366
/* XXX currently nothing here */
uint8_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */
uint16_t rc_min[4]; /**< min value for each channel */
uint16_t rc_trim[4]; /**< trim value for each channel */
uint16_t rc_max[4]; /**< max value for each channel */
uint16_t rc_rev[4]; /**< rev value for each channel */
uint16_t rc_dz[4]; /**< dz value for each channel */
};
/**
apps/px4io/px4io.h
+2 -2
View File
@@ -75,7 +75,7 @@ struct sys_state_s {
/**
* Remote control input(s) channel mappings
*/
uint16_t rc_map[4];
uint8_t rc_map[4];
/**
* Remote control channel attributes
@@ -85,7 +85,7 @@ struct sys_state_s {
uint16_t rc_max[4];
uint16_t rc_rev[4];
uint16_t rc_dz[4];
/**
* Data from the remote control input(s)
*/