fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 14:08:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

RCInput: follow topic name convention

Browse Source
This commit is contained in:
Matthias Grob
2023-05-23 17:24:17 +02:00
parent 8feb662557
commit 7d0596d244
3 changed files with 40 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4io/px4io.cpp
+2 -2
View File
@@ -209,7 +209,7 @@ private:
bool _timer_rates_configured{false};
/* advertised topics */
uORB::PublicationMulti<input_rc_s> _to_input_rc{ORB_ID(input_rc)};
uORB::PublicationMulti<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
uORB::Publication<px4io_status_s> _px4io_status_pub{ORB_ID(px4io_status)};
ButtonPublisher _button_publisher;
@@ -1144,7 +1144,7 @@ int PX4IO::io_publish_raw_rc()
input_rc.link_quality = -1;
input_rc.rssi_dbm = NAN;
_to_input_rc.publish(input_rc);
_input_rc_pub.publish(input_rc);
}
return ret;
src/drivers/rc_input/RCInput.cpp
+36 -36
View File
@@ -192,16 +192,16 @@ RCInput::fill_rc_in(uint16_t raw_rc_count_local,
unsigned frame_drops, int rssi = -1)
{
// fill rc_in struct for publishing
_rc_in.channel_count = raw_rc_count_local;
_input_rc.channel_count = raw_rc_count_local;
if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
if (_input_rc.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
_input_rc.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
unsigned valid_chans = 0;
for (unsigned i = 0; i < _rc_in.channel_count; i++) {
_rc_in.values[i] = raw_rc_values_local[i];
for (unsigned i = 0; i < _input_rc.channel_count; i++) {
_input_rc.values[i] = raw_rc_values_local[i];
if (raw_rc_values_local[i] != UINT16_MAX) {
valid_chans++;
@@ -211,20 +211,20 @@ RCInput::fill_rc_in(uint16_t raw_rc_count_local,
_raw_rc_values[i] = UINT16_MAX;
}
_rc_in.timestamp = now;
_rc_in.timestamp_last_signal = _rc_in.timestamp;
_rc_in.rc_ppm_frame_length = 0;
_input_rc.timestamp = now;
_input_rc.timestamp_last_signal = _input_rc.timestamp;
_input_rc.rc_ppm_frame_length = 0;
/* fake rssi if no value was provided */
if (rssi == -1) {
if ((_param_rc_rssi_pwm_chan.get() > 0) && (_param_rc_rssi_pwm_chan.get() < _rc_in.channel_count)) {
if ((_param_rc_rssi_pwm_chan.get() > 0) && (_param_rc_rssi_pwm_chan.get() < _input_rc.channel_count)) {
const int32_t rssi_pwm_chan = _param_rc_rssi_pwm_chan.get();
const int32_t rssi_pwm_min = _param_rc_rssi_pwm_min.get();
const int32_t rssi_pwm_max = _param_rc_rssi_pwm_max.get();
// get RSSI from input channel
int rc_rssi = ((_rc_in.values[rssi_pwm_chan - 1] - rssi_pwm_min) * 100) / (rssi_pwm_max - rssi_pwm_min);
_rc_in.rssi = math::constrain(rc_rssi, 0, 100);
int rc_rssi = ((_input_rc.values[rssi_pwm_chan - 1] - rssi_pwm_min) * 100) / (rssi_pwm_max - rssi_pwm_min);
_input_rc.rssi = math::constrain(rc_rssi, 0, 100);
} else if (_analog_rc_rssi_stable) {
// set RSSI if analog RSSI input is present
@@ -238,24 +238,24 @@ RCInput::fill_rc_in(uint16_t raw_rc_count_local,
rssi_analog = 0.0f;
}
_rc_in.rssi = rssi_analog;
_input_rc.rssi = rssi_analog;
} else {
_rc_in.rssi = 255;
_input_rc.rssi = 255;
}
} else {
_rc_in.rssi = rssi;
_input_rc.rssi = rssi;
}
if (valid_chans == 0) {
_rc_in.rssi = 0;
_input_rc.rssi = 0;
}
_rc_in.rc_failsafe = failsafe;
_rc_in.rc_lost = (valid_chans == 0);
_rc_in.rc_lost_frame_count = frame_drops;
_rc_in.rc_total_frame_count = 0;
_input_rc.rc_failsafe = failsafe;
_input_rc.rc_lost = (valid_chans == 0);
_input_rc.rc_lost_frame_count = frame_drops;
_input_rc.rc_total_frame_count = 0;
}
void RCInput::set_rc_scan_state(RC_SCAN newState)
@@ -468,7 +468,7 @@ void RCInput::Run()
if (rc_updated) {
// we have a new SBUS frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
sbus_frame_drop, sbus_failsafe, frame_drops);
_rc_scan_locked = true;
@@ -506,7 +506,7 @@ void RCInput::Run()
if (rc_updated) {
// we have a new DSM frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
false, false, frame_drops, dsm_rssi);
_rc_scan_locked = true;
@@ -552,14 +552,14 @@ void RCInput::Run()
if (rc_updated) {
if (lost_count == 0) {
// we have a new ST24 frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24;
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
false, false, frame_drops, st24_rssi);
_rc_scan_locked = true;
} else {
// if the lost count > 0 means that there is an RC loss
_rc_in.rc_lost = true;
_input_rc.rc_lost = true;
}
}
}
@@ -600,7 +600,7 @@ void RCInput::Run()
if (rc_updated) {
// we have a new SUMD frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD;
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
false, sumd_failsafe, frame_drops, sumd_rssi);
_rc_scan_locked = true;
@@ -625,14 +625,14 @@ void RCInput::Run()
} else if (_rc_scan_locked || cycle_timestamp - _rc_scan_begin < rc_scan_max) {
// see if we have new PPM input data
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) && ppm_decoded_channels > 3) {
if ((ppm_last_valid_decode != _input_rc.timestamp_last_signal) && ppm_decoded_channels > 3) {
// we have a new PPM frame. Publish it.
rc_updated = true;
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
fill_rc_in(ppm_decoded_channels, ppm_buffer, cycle_timestamp, false, false, 0);
_rc_scan_locked = true;
_rc_in.rc_ppm_frame_length = ppm_frame_length;
_rc_in.timestamp_last_signal = ppm_last_valid_decode;
_input_rc.rc_ppm_frame_length = ppm_frame_length;
_input_rc.timestamp_last_signal = ppm_last_valid_decode;
}
} else {
@@ -669,7 +669,7 @@ void RCInput::Run()
if (rc_updated) {
// we have a new CRSF frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_CRSF;
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_CRSF;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0);
// on Pixhawk (-related) boards we cannot write to the RC UART
@@ -718,7 +718,7 @@ void RCInput::Run()
if (rc_updated) {
// we have a new GHST frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST;
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi);
// ghst telemetry works on fmu-v5
@@ -753,12 +753,12 @@ void RCInput::Run()
if (rc_updated) {
perf_count(_publish_interval_perf);
_rc_in.link_quality = -1;
_rc_in.rssi_dbm = NAN;
_input_rc.link_quality = -1;
_input_rc.rssi_dbm = NAN;
_to_input_rc.publish(_rc_in);
_input_rc_pub.publish(_input_rc);
} else if (!rc_updated && !_armed && (hrt_elapsed_time(&_rc_in.timestamp_last_signal) > 1_s)) {
} else if (!rc_updated && !_armed && (hrt_elapsed_time(&_input_rc.timestamp_last_signal) > 1_s)) {
_rc_scan_locked = false;
}
@@ -907,8 +907,8 @@ int RCInput::print_status()
perf_print_counter(_cycle_perf);
perf_print_counter(_publish_interval_perf);
if (hrt_elapsed_time(&_rc_in.timestamp) < 1_s) {
print_message(ORB_ID(input_rc), _rc_in);
if (hrt_elapsed_time(&_input_rc.timestamp) < 1_s) {
print_message(ORB_ID(input_rc), _input_rc);
}
return 0;
src/drivers/rc_input/RCInput.hpp
+2 -4
View File
@@ -127,6 +127,7 @@ private:
void rc_io_invert(bool invert);
input_rc_s _input_rc{};
hrt_abstime _rc_scan_begin{0};
bool _initialized{false};
@@ -140,16 +141,13 @@ private:
uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
input_rc_s _rc_in{};
uORB::PublicationMulti<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
float _analog_rc_rssi_volt{-1.0f};
bool _analog_rc_rssi_stable{false};
bool _armed{false};
uORB::PublicationMulti<input_rc_s> _to_input_rc{ORB_ID(input_rc)};
int _rcs_fd{-1};
char _device[20] {}; ///< device / serial port path