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hitl,sitl,sih: use separate actuator_outputs_sim for SYS_CTRL_ALLOC==1

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- removes the need to do type-specific rescaling of pwm to normalized values
- allows to run physical output drivers alongside HIL/SIH
This commit is contained in:
Beat Küng
2022-02-25 08:30:58 +01:00
parent 1e32398217
commit 9b629a9e95
8 changed files with 264 additions and 164 deletions
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src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp
+86 -69
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@@ -55,11 +55,21 @@ public:
}
private:
explicit MavlinkStreamHILActuatorControls(Mavlink *mavlink) : MavlinkStream(mavlink) {}
explicit MavlinkStreamHILActuatorControls(Mavlink *mavlink) : MavlinkStream(mavlink)
{
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
_use_dynamic_mixing = sys_ctrl_alloc >= 1;
if (_use_dynamic_mixing) {
_act_sub = uORB::Subscription{ORB_ID(actuator_outputs_sim)};
}
}
uORB::Subscription _act_sub{ORB_ID(actuator_outputs)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
bool _use_dynamic_mixing{false};
bool send() override
{
@@ -69,81 +79,88 @@ private:
mavlink_hil_actuator_controls_t msg{};
msg.time_usec = act.timestamp;
static constexpr float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2;
unsigned system_type = _mavlink->get_system_type();
/* scale outputs depending on system type */
if (system_type == MAV_TYPE_QUADROTOR ||
system_type == MAV_TYPE_HEXAROTOR ||
system_type == MAV_TYPE_OCTOROTOR ||
system_type == MAV_TYPE_VTOL_DUOROTOR ||
system_type == MAV_TYPE_VTOL_QUADROTOR ||
system_type == MAV_TYPE_VTOL_RESERVED2) {
/* multirotors: set number of rotor outputs depending on type */
unsigned n;
switch (system_type) {
case MAV_TYPE_QUADROTOR:
n = 4;
break;
case MAV_TYPE_HEXAROTOR:
n = 6;
break;
case MAV_TYPE_VTOL_DUOROTOR:
n = 2;
break;
case MAV_TYPE_VTOL_QUADROTOR:
n = 4;
break;
case MAV_TYPE_VTOL_RESERVED2:
n = 8;
break;
default:
n = 8;
break;
}
for (unsigned i = 0; i < 16; i++) {
if (act.output[i] > PWM_DEFAULT_MIN / 2) {
if (i < n) {
/* scale PWM out 900..2100 us to 0..1 for rotors */
msg.controls[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
} else {
/* scale PWM out 900..2100 us to -1..1 for other channels */
msg.controls[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
}
} else {
/* send 0 when disarmed and for disabled channels */
msg.controls[i] = 0.0f;
}
if (_use_dynamic_mixing) {
for (unsigned i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; i++) {
msg.controls[i] = act.output[i];
}
} else {
/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
for (unsigned i = 0; i < 16; i++) {
if (act.output[i] > PWM_DEFAULT_MIN / 2) {
if (i != 3) {
/* scale PWM out 900..2100 us to -1..1 for normal channels */
msg.controls[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
static constexpr float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2;
unsigned system_type = _mavlink->get_system_type();
/* scale outputs depending on system type */
if (system_type == MAV_TYPE_QUADROTOR ||
system_type == MAV_TYPE_HEXAROTOR ||
system_type == MAV_TYPE_OCTOROTOR ||
system_type == MAV_TYPE_VTOL_DUOROTOR ||
system_type == MAV_TYPE_VTOL_QUADROTOR ||
system_type == MAV_TYPE_VTOL_RESERVED2) {
/* multirotors: set number of rotor outputs depending on type */
unsigned n;
switch (system_type) {
case MAV_TYPE_QUADROTOR:
n = 4;
break;
case MAV_TYPE_HEXAROTOR:
n = 6;
break;
case MAV_TYPE_VTOL_DUOROTOR:
n = 2;
break;
case MAV_TYPE_VTOL_QUADROTOR:
n = 4;
break;
case MAV_TYPE_VTOL_RESERVED2:
n = 8;
break;
default:
n = 8;
break;
}
for (unsigned i = 0; i < 16; i++) {
if (act.output[i] > PWM_DEFAULT_MIN / 2) {
if (i < n) {
/* scale PWM out 900..2100 us to 0..1 for rotors */
msg.controls[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
} else {
/* scale PWM out 900..2100 us to -1..1 for other channels */
msg.controls[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
}
} else {
/* scale PWM out 900..2100 us to 0..1 for throttle */
msg.controls[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
/* send 0 when disarmed and for disabled channels */
msg.controls[i] = 0.0f;
}
}
} else {
/* set 0 for disabled channels */
msg.controls[i] = 0.0f;
} else {
/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
for (unsigned i = 0; i < 16; i++) {
if (act.output[i] > PWM_DEFAULT_MIN / 2) {
if (i != 3) {
/* scale PWM out 900..2100 us to -1..1 for normal channels */
msg.controls[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2);
} else {
/* scale PWM out 900..2100 us to 0..1 for throttle */
msg.controls[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN);
}
} else {
/* set 0 for disabled channels */
msg.controls[i] = 0.0f;
}
}
}
}