mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
sensors split rc_update into new standalone module
This commit is contained in:
Daniel Agar
GitHub
parent
28755d5bbf
commit
bc182e94e6
@ -234,6 +234,7 @@ replay tryapplyparams
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simulator start -c $simulator_tcp_port
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tone_alarm start
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gpssim start
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rc_update start
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sensors start
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commander start
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navigator start
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@ -310,6 +310,12 @@ else
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tune_control play -t 2
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fi
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#
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# RC update (map raw RC input to calibrate manual control)
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# start before commander
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#
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rc_update start
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#
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# Sensors System (start before Commander so Preflight checks are properly run).
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# Commander needs to be this early for in-air-restarts.
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@ -50,6 +50,7 @@ px4_add_board(
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mc_rate_control
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#micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -72,6 +72,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -83,6 +83,7 @@ px4_add_board(
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mc_rate_control
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mc_pos_control
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navigator
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rc_update
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sensors
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#sih
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simulator
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@ -76,6 +76,7 @@ px4_add_board(
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mc_att_control
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mc_rate_control
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mc_pos_control
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rc_update
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sensors
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#sih
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vmount
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@ -83,6 +83,7 @@ px4_add_board(
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mc_rate_control
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mc_pos_control
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navigator
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rc_update
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sensors
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sih
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simulator
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@ -75,6 +75,7 @@ px4_add_board(
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mc_att_control
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mc_rate_control
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mc_pos_control
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rc_update
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sensors
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sih
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vmount
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@ -72,6 +72,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -72,6 +72,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -47,6 +47,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -45,6 +45,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -30,6 +30,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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sensors
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SYSTEMCMDS
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bl_update
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@ -51,6 +51,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -49,6 +49,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -77,6 +77,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -44,6 +44,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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sensors
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SYSTEMCMDS
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bl_update
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@ -52,6 +52,7 @@ px4_add_board(
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mc_rate_control
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#micrortps_bridge
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navigator
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rc_update
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#rover_pos_control
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sensors
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#sih
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@ -52,6 +52,7 @@ px4_add_board(
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mc_rate_control
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micrortps_bridge
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navigator
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rc_update
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#rover_pos_control
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sensors
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#sih
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@ -70,6 +70,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -76,6 +76,7 @@ px4_add_board(
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mc_rate_control
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#micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -73,6 +73,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -60,6 +60,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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#rover_pos_control
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sensors
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#sih
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@ -39,6 +39,7 @@ px4_add_board(
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mc_rate_control
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mc_pos_control
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navigator
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rc_update
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sensors
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sih
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#vtol_att_control
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@ -48,7 +48,7 @@ px4_add_board(
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magnetometer/hmc5883
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#mkblctrl
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#optical_flow # all available optical flow drivers
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optical_flow/px4flow
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#optical_flow/px4flow
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#osd
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#pca9685
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#protocol_splitter
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@ -83,6 +83,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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#rover_pos_control
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sensors
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#sih
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@ -54,6 +54,7 @@ px4_add_board(
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logger
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mavlink
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navigator
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rc_update
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sensors
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vmount
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SYSTEMCMDS
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@ -79,6 +79,7 @@ px4_add_board(
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mc_pos_control
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navigator
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battery_status
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rc_update
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sensors
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vmount
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#vtol_att_control
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@ -52,6 +52,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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sensors
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vmount
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SYSTEMCMDS
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@ -48,6 +48,7 @@ px4_add_board(
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mavlink
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navigator
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battery_status
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rc_update
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sensors
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vmount
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@ -82,6 +82,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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#rover_pos_control
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sensors
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#sih
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@ -82,6 +82,7 @@ px4_add_board(
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mc_rate_control
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#micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -82,6 +82,7 @@ px4_add_board(
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mc_rate_control
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micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -78,6 +78,7 @@ px4_add_board(
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mc_pos_control
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navigator
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battery_status
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rc_update
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sensors
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sih
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vmount
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@ -73,6 +73,7 @@ px4_add_board(
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mc_rate_control
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#micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -73,6 +73,7 @@ px4_add_board(
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mc_rate_control
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micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -73,6 +73,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -75,6 +75,7 @@ px4_add_board(
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mc_rate_control
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#micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -74,6 +74,7 @@ px4_add_board(
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mc_rate_control
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micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -78,6 +78,7 @@ px4_add_board(
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mc_pos_control
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navigator
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battery_status
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rc_update
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sensors
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sih
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vmount
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@ -78,6 +78,7 @@ px4_add_board(
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mc_rate_control
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#micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -57,6 +57,7 @@ px4_add_board(
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logger
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mavlink
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navigator
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rc_update
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sensors
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vmount
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SYSTEMCMDS
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@ -78,6 +78,7 @@ px4_add_board(
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mc_pos_control
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navigator
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battery_status
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rc_update
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sensors
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sih
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vmount
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@ -66,6 +66,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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sensors
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sih
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vmount
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@ -56,6 +56,7 @@ px4_add_board(
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logger
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mavlink
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navigator
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rc_update
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rover_pos_control
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sensors
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vmount
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@ -78,6 +78,7 @@ px4_add_board(
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mc_rate_control
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micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -77,6 +77,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -77,6 +77,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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rover_pos_control
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sensors
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sih
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@ -45,6 +45,7 @@ px4_add_board(
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mc_pos_control
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navigator
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battery_status
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rc_update
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sensors
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sih
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vmount
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@ -43,6 +43,7 @@ px4_add_board(
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mc_pos_control
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navigator
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battery_status
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rc_update
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sensors
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sih
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#simulator
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@ -38,6 +38,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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replay
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rover_pos_control
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sensors
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@ -41,6 +41,7 @@ px4_add_board(
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micrortps_bridge
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navigator
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replay
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rc_update
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rover_pos_control
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sensors
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#sih
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@ -41,6 +41,7 @@ px4_add_board(
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mc_pos_control
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navigator
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replay
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rc_update
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sensors
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simulator
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vmount
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@ -54,6 +54,7 @@ px4_add_board(
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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sensors
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sih
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vmount
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@ -49,6 +49,7 @@ const char *get_commands()
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"param set CAL_MAG0_ID 196608\n"
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// "rgbled start\n"
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// "tone_alarm start\n"
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"rc_update start\n"
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"commander start --hil\n"
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"sensors start\n"
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"ekf2 start\n"
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@ -19,6 +19,7 @@ tone_alarm start
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gpssim start
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pwm_out_sim start
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rc_update start
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sensors start
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commander start
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land_detector start vtol
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@ -50,6 +51,7 @@ logger status
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pwm_out_sim status
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sensors status
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commander status
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rc_update stop
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land_detector status
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navigator status
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ekf2 status
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@ -62,6 +62,7 @@ gps start -d /dev/ttyS2 -s -p ubx
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bbblue_adc start
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bbblue_adc test
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rc_update start
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sensors start
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commander start
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navigator start
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@ -62,6 +62,7 @@ gps start -d /dev/ttyS2 -s -p ubx
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bbblue_adc start
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bbblue_adc test
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rc_update start
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sensors start
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commander start
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navigator start
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@ -43,6 +43,7 @@ df_ak8963_wrapper start -R 32
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#df_bebop_rangefinder_wrapper start
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gps start -d /dev/ttyPA1
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bebop_flow start
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rc_update start
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sensors start
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commander start
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ekf2 start
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@ -27,6 +27,7 @@ sleep 1
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df_mpu9250_wrapper start
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df_bmp280_wrapper start
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gps start -d /dev/tty-4
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rc_update start
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sensors start
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commander start
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ekf2 start
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@ -27,6 +27,7 @@ sleep 1
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df_mpu9250_wrapper start
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df_bmp280_wrapper start
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gps start -d /dev/tty-4
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rc_update start
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sensors start
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commander start
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ekf2 start
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@ -12,6 +12,7 @@ df_trone_wrapper start
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#df_ltc2946_wrapper start # (currently not working on all boards...)
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#df_isl29501_wrapper start
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sleep 1
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rc_update start
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sensors start
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commander start
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ekf2 start
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@ -38,6 +38,7 @@ param set ATT_W_ACC 0.0002
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param set ATT_W_MAG 0.002
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param set ATT_W_GYRO_BIAS 0.05
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sleep 1
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rc_update start
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commander start -hil
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sensors start
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ekf2 start
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@ -176,6 +176,7 @@ fi
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qshell df_mpu9250_wrapper start
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qshell df_bmp280_wrapper start
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qshell rc_update start
|
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qshell sensors start
|
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|
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if param compare SYS_MC_EST_GROUP 1
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|
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@ -77,6 +77,7 @@ param set UART_ESC_MOTOR4 3
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sleep 1
|
||||
df_mpu9250_wrapper start
|
||||
df_bmp280_wrapper start
|
||||
rc_update start
|
||||
sensors start
|
||||
commander start
|
||||
ekf2 start
|
||||
|
||||
@ -21,6 +21,7 @@ df_ms5611_wrapper start
|
||||
rgbled start -b 1
|
||||
ocpoc_adc start
|
||||
gps start -d /dev/ttyS3 -s
|
||||
rc_update start
|
||||
sensors start
|
||||
commander start
|
||||
navigator start
|
||||
|
||||
@ -24,6 +24,7 @@ df_ms5611_wrapper start
|
||||
navio_rgbled start
|
||||
navio_adc start
|
||||
gps start -d /dev/spidev0.0 -i spi -p ubx
|
||||
rc_update start
|
||||
sensors start
|
||||
commander start
|
||||
navigator start
|
||||
|
||||
@ -24,6 +24,7 @@ navio_rgbled start
|
||||
navio_adc start
|
||||
gps start -d /dev/spidev0.0 -i spi -p ubx
|
||||
ms4525_airspeed start
|
||||
rc_update start
|
||||
sensors start
|
||||
commander start
|
||||
navigator start
|
||||
|
||||
@ -13,6 +13,7 @@ param set SYS_AUTOSTART 1001
|
||||
param set MAV_BROADCAST 1
|
||||
param set MAV_TYPE 2
|
||||
dataman start
|
||||
rc_update start
|
||||
sensors start -hil
|
||||
commander start -hil
|
||||
navigator start
|
||||
|
||||
@ -17,6 +17,7 @@ param set MAV_TYPE 2
|
||||
df_mpu9250_wrapper start -R 10
|
||||
df_ms5611_wrapper start
|
||||
gps start -d /dev/ttyACM0 -i uart -p ubx
|
||||
rc_update start
|
||||
sensors start
|
||||
commander start
|
||||
ekf2 start
|
||||
|
||||
@ -24,6 +24,7 @@ df_ms5611_wrapper start
|
||||
navio_rgbled start
|
||||
navio_adc start
|
||||
gps start -d /dev/spidev0.0 -i spi -p ubx
|
||||
rc_update start
|
||||
sensors start
|
||||
commander start
|
||||
navigator start
|
||||
|
||||
42
src/modules/rc_update/CMakeLists.txt
Normal file
42
src/modules/rc_update/CMakeLists.txt
Normal file
@ -0,0 +1,42 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015-2019 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__rc_update
|
||||
MAIN rc_update
|
||||
SRCS
|
||||
rc_update.cpp
|
||||
parameters.cpp
|
||||
DEPENDS
|
||||
mathlib
|
||||
)
|
||||
325
src/modules/rc_update/parameters.cpp
Normal file
325
src/modules/rc_update/parameters.cpp
Normal file
@ -0,0 +1,325 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file parameters.cpp
|
||||
*
|
||||
* @author Beat Kueng <beat-kueng@gmx.net>
|
||||
*/
|
||||
|
||||
#include "parameters.h"
|
||||
|
||||
namespace RCUpdate
|
||||
{
|
||||
|
||||
void initialize_parameter_handles(ParameterHandles ¶meter_handles)
|
||||
{
|
||||
/* basic r/c parameters */
|
||||
for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) {
|
||||
char nbuf[16];
|
||||
|
||||
/* min values */
|
||||
sprintf(nbuf, "RC%d_MIN", i + 1);
|
||||
parameter_handles.min[i] = param_find(nbuf);
|
||||
|
||||
/* trim values */
|
||||
sprintf(nbuf, "RC%d_TRIM", i + 1);
|
||||
parameter_handles.trim[i] = param_find(nbuf);
|
||||
|
||||
/* max values */
|
||||
sprintf(nbuf, "RC%d_MAX", i + 1);
|
||||
parameter_handles.max[i] = param_find(nbuf);
|
||||
|
||||
/* channel reverse */
|
||||
sprintf(nbuf, "RC%d_REV", i + 1);
|
||||
parameter_handles.rev[i] = param_find(nbuf);
|
||||
|
||||
/* channel deadzone */
|
||||
sprintf(nbuf, "RC%d_DZ", i + 1);
|
||||
parameter_handles.dz[i] = param_find(nbuf);
|
||||
|
||||
}
|
||||
|
||||
/* mandatory input switched, mapped to channels 1-4 per default */
|
||||
parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL");
|
||||
parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
|
||||
parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW");
|
||||
parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
|
||||
parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE");
|
||||
|
||||
/* mandatory mode switches, mapped to channel 5 and 6 per default */
|
||||
parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
|
||||
parameter_handles.rc_map_return_sw = param_find("RC_MAP_RETURN_SW");
|
||||
|
||||
parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
|
||||
|
||||
/* optional mode switches, not mapped per default */
|
||||
parameter_handles.rc_map_rattitude_sw = param_find("RC_MAP_RATT_SW");
|
||||
parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW");
|
||||
parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
|
||||
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_arm_sw = param_find("RC_MAP_ARM_SW");
|
||||
parameter_handles.rc_map_trans_sw = param_find("RC_MAP_TRANS_SW");
|
||||
parameter_handles.rc_map_gear_sw = param_find("RC_MAP_GEAR_SW");
|
||||
parameter_handles.rc_map_stab_sw = param_find("RC_MAP_STAB_SW");
|
||||
parameter_handles.rc_map_man_sw = param_find("RC_MAP_MAN_SW");
|
||||
|
||||
parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
|
||||
parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
|
||||
parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3");
|
||||
parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
|
||||
parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
|
||||
parameter_handles.rc_map_aux6 = param_find("RC_MAP_AUX6");
|
||||
|
||||
/* RC to parameter mapping for changing parameters with RC */
|
||||
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
|
||||
char name[rc_parameter_map_s::PARAM_ID_LEN];
|
||||
snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d",
|
||||
i + 1); // shifted by 1 because param name starts at 1
|
||||
parameter_handles.rc_map_param[i] = param_find(name);
|
||||
}
|
||||
|
||||
parameter_handles.rc_map_flightmode = param_find("RC_MAP_FLTMODE");
|
||||
|
||||
/* RC thresholds */
|
||||
parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
|
||||
parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
|
||||
parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
|
||||
parameter_handles.rc_rattitude_th = param_find("RC_RATT_TH");
|
||||
parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH");
|
||||
parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
|
||||
parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
|
||||
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_armswitch_th = param_find("RC_ARMSWITCH_TH");
|
||||
parameter_handles.rc_trans_th = param_find("RC_TRANS_TH");
|
||||
parameter_handles.rc_gear_th = param_find("RC_GEAR_TH");
|
||||
parameter_handles.rc_stab_th = param_find("RC_STAB_TH");
|
||||
parameter_handles.rc_man_th = param_find("RC_MAN_TH");
|
||||
|
||||
/* RC low pass filter configuration */
|
||||
parameter_handles.rc_flt_smp_rate = param_find("RC_FLT_SMP_RATE");
|
||||
parameter_handles.rc_flt_cutoff = param_find("RC_FLT_CUTOFF");
|
||||
|
||||
// These are parameters for which QGroundControl always expects to be returned in a list request.
|
||||
// We do a param_find here to force them into the list.
|
||||
(void)param_find("RC_CHAN_CNT");
|
||||
}
|
||||
|
||||
int update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters)
|
||||
{
|
||||
bool rc_valid = true;
|
||||
float tmpScaleFactor = 0.0f;
|
||||
float tmpRevFactor = 0.0f;
|
||||
int ret = PX4_OK;
|
||||
|
||||
/* rc values */
|
||||
for (unsigned int i = 0; i < RC_MAX_CHAN_COUNT; i++) {
|
||||
|
||||
param_get(parameter_handles.min[i], &(parameters.min[i]));
|
||||
param_get(parameter_handles.trim[i], &(parameters.trim[i]));
|
||||
param_get(parameter_handles.max[i], &(parameters.max[i]));
|
||||
param_get(parameter_handles.rev[i], &(parameters.rev[i]));
|
||||
param_get(parameter_handles.dz[i], &(parameters.dz[i]));
|
||||
|
||||
tmpScaleFactor = (1.0f / ((parameters.max[i] - parameters.min[i]) / 2.0f) * parameters.rev[i]);
|
||||
tmpRevFactor = tmpScaleFactor * parameters.rev[i];
|
||||
|
||||
/* handle blowup in the scaling factor calculation */
|
||||
if (!PX4_ISFINITE(tmpScaleFactor) ||
|
||||
(tmpRevFactor < 0.000001f) ||
|
||||
(tmpRevFactor > 0.2f)) {
|
||||
PX4_WARN("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(parameters.rev[i]));
|
||||
/* scaling factors do not make sense, lock them down */
|
||||
parameters.scaling_factor[i] = 0.0f;
|
||||
rc_valid = false;
|
||||
|
||||
} else {
|
||||
parameters.scaling_factor[i] = tmpScaleFactor;
|
||||
}
|
||||
}
|
||||
|
||||
/* handle wrong values */
|
||||
if (!rc_valid) {
|
||||
PX4_ERR("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
|
||||
}
|
||||
|
||||
const char *paramerr = "FAIL PARM LOAD";
|
||||
|
||||
/* channel mapping */
|
||||
if (param_get(parameter_handles.rc_map_roll, &(parameters.rc_map_roll)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_pitch, &(parameters.rc_map_pitch)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_yaw, &(parameters.rc_map_yaw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_throttle, &(parameters.rc_map_throttle)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_failsafe, &(parameters.rc_map_failsafe)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_mode_sw, &(parameters.rc_map_mode_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_return_sw, &(parameters.rc_map_return_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_rattitude_sw, &(parameters.rc_map_rattitude_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_posctl_sw, &(parameters.rc_map_posctl_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_loiter_sw, &(parameters.rc_map_loiter_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_acro_sw, &(parameters.rc_map_acro_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_offboard_sw, &(parameters.rc_map_offboard_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_kill_sw, &(parameters.rc_map_kill_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_arm_sw, &(parameters.rc_map_arm_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_trans_sw, &(parameters.rc_map_trans_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_flaps, &(parameters.rc_map_flaps)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_gear_sw, &(parameters.rc_map_gear_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_stab_sw, &(parameters.rc_map_stab_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_man_sw, &(parameters.rc_map_man_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
param_get(parameter_handles.rc_map_aux1, &(parameters.rc_map_aux1));
|
||||
param_get(parameter_handles.rc_map_aux2, &(parameters.rc_map_aux2));
|
||||
param_get(parameter_handles.rc_map_aux3, &(parameters.rc_map_aux3));
|
||||
param_get(parameter_handles.rc_map_aux4, &(parameters.rc_map_aux4));
|
||||
param_get(parameter_handles.rc_map_aux5, &(parameters.rc_map_aux5));
|
||||
param_get(parameter_handles.rc_map_aux6, &(parameters.rc_map_aux6));
|
||||
|
||||
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
|
||||
param_get(parameter_handles.rc_map_param[i], &(parameters.rc_map_param[i]));
|
||||
}
|
||||
|
||||
param_get(parameter_handles.rc_map_flightmode, &(parameters.rc_map_flightmode));
|
||||
|
||||
param_get(parameter_handles.rc_fails_thr, &(parameters.rc_fails_thr));
|
||||
param_get(parameter_handles.rc_assist_th, &(parameters.rc_assist_th));
|
||||
parameters.rc_assist_inv = (parameters.rc_assist_th < 0);
|
||||
parameters.rc_assist_th = fabsf(parameters.rc_assist_th);
|
||||
param_get(parameter_handles.rc_auto_th, &(parameters.rc_auto_th));
|
||||
parameters.rc_auto_inv = (parameters.rc_auto_th < 0);
|
||||
parameters.rc_auto_th = fabsf(parameters.rc_auto_th);
|
||||
param_get(parameter_handles.rc_rattitude_th, &(parameters.rc_rattitude_th));
|
||||
parameters.rc_rattitude_inv = (parameters.rc_rattitude_th < 0);
|
||||
parameters.rc_rattitude_th = fabsf(parameters.rc_rattitude_th);
|
||||
param_get(parameter_handles.rc_posctl_th, &(parameters.rc_posctl_th));
|
||||
parameters.rc_posctl_inv = (parameters.rc_posctl_th < 0);
|
||||
parameters.rc_posctl_th = fabsf(parameters.rc_posctl_th);
|
||||
param_get(parameter_handles.rc_return_th, &(parameters.rc_return_th));
|
||||
parameters.rc_return_inv = (parameters.rc_return_th < 0);
|
||||
parameters.rc_return_th = fabsf(parameters.rc_return_th);
|
||||
param_get(parameter_handles.rc_loiter_th, &(parameters.rc_loiter_th));
|
||||
parameters.rc_loiter_inv = (parameters.rc_loiter_th < 0);
|
||||
parameters.rc_loiter_th = fabsf(parameters.rc_loiter_th);
|
||||
param_get(parameter_handles.rc_acro_th, &(parameters.rc_acro_th));
|
||||
parameters.rc_acro_inv = (parameters.rc_acro_th < 0);
|
||||
parameters.rc_acro_th = fabsf(parameters.rc_acro_th);
|
||||
param_get(parameter_handles.rc_offboard_th, &(parameters.rc_offboard_th));
|
||||
parameters.rc_offboard_inv = (parameters.rc_offboard_th < 0);
|
||||
parameters.rc_offboard_th = fabsf(parameters.rc_offboard_th);
|
||||
param_get(parameter_handles.rc_killswitch_th, &(parameters.rc_killswitch_th));
|
||||
parameters.rc_killswitch_inv = (parameters.rc_killswitch_th < 0);
|
||||
parameters.rc_killswitch_th = fabsf(parameters.rc_killswitch_th);
|
||||
param_get(parameter_handles.rc_armswitch_th, &(parameters.rc_armswitch_th));
|
||||
parameters.rc_armswitch_inv = (parameters.rc_armswitch_th < 0);
|
||||
parameters.rc_armswitch_th = fabsf(parameters.rc_armswitch_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 = fabsf(parameters.rc_trans_th);
|
||||
param_get(parameter_handles.rc_gear_th, &(parameters.rc_gear_th));
|
||||
parameters.rc_gear_inv = (parameters.rc_gear_th < 0);
|
||||
parameters.rc_gear_th = fabsf(parameters.rc_gear_th);
|
||||
param_get(parameter_handles.rc_stab_th, &(parameters.rc_stab_th));
|
||||
parameters.rc_stab_inv = (parameters.rc_stab_th < 0);
|
||||
parameters.rc_stab_th = fabsf(parameters.rc_stab_th);
|
||||
param_get(parameter_handles.rc_man_th, &(parameters.rc_man_th));
|
||||
parameters.rc_man_inv = (parameters.rc_man_th < 0);
|
||||
parameters.rc_man_th = fabsf(parameters.rc_man_th);
|
||||
|
||||
param_get(parameter_handles.rc_flt_smp_rate, &(parameters.rc_flt_smp_rate));
|
||||
parameters.rc_flt_smp_rate = math::max(1.0f, parameters.rc_flt_smp_rate);
|
||||
param_get(parameter_handles.rc_flt_cutoff, &(parameters.rc_flt_cutoff));
|
||||
/* make sure the filter is in its stable region -> fc < fs/2 */
|
||||
parameters.rc_flt_cutoff = math::min(parameters.rc_flt_cutoff, (parameters.rc_flt_smp_rate / 2) - 1.f);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
} /* namespace RCUpdate */
|
||||
207
src/modules/rc_update/parameters.h
Normal file
207
src/modules/rc_update/parameters.h
Normal file
@ -0,0 +1,207 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
/**
|
||||
* @file parameters.h
|
||||
*
|
||||
* defines the list of parameters that are used within the RCUpdate module
|
||||
*
|
||||
* @author Beat Kueng <beat-kueng@gmx.net>
|
||||
*/
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <drivers/drv_rc_input.h>
|
||||
|
||||
#include <parameters/param.h>
|
||||
#include <mathlib/mathlib.h>
|
||||
|
||||
#include <uORB/topics/rc_parameter_map.h>
|
||||
#include <uORB/topics/input_rc.h>
|
||||
namespace RCUpdate
|
||||
{
|
||||
|
||||
static constexpr unsigned RC_MAX_CHAN_COUNT =
|
||||
input_rc_s::RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
|
||||
|
||||
struct Parameters {
|
||||
float min[RC_MAX_CHAN_COUNT];
|
||||
float trim[RC_MAX_CHAN_COUNT];
|
||||
float max[RC_MAX_CHAN_COUNT];
|
||||
float rev[RC_MAX_CHAN_COUNT];
|
||||
float dz[RC_MAX_CHAN_COUNT];
|
||||
float scaling_factor[RC_MAX_CHAN_COUNT];
|
||||
|
||||
int32_t rc_map_roll;
|
||||
int32_t rc_map_pitch;
|
||||
int32_t rc_map_yaw;
|
||||
int32_t rc_map_throttle;
|
||||
int32_t rc_map_failsafe;
|
||||
|
||||
int32_t rc_map_mode_sw;
|
||||
int32_t rc_map_return_sw;
|
||||
int32_t rc_map_rattitude_sw;
|
||||
int32_t rc_map_posctl_sw;
|
||||
int32_t rc_map_loiter_sw;
|
||||
int32_t rc_map_acro_sw;
|
||||
int32_t rc_map_offboard_sw;
|
||||
int32_t rc_map_kill_sw;
|
||||
int32_t rc_map_arm_sw;
|
||||
int32_t rc_map_trans_sw;
|
||||
int32_t rc_map_gear_sw;
|
||||
int32_t rc_map_stab_sw;
|
||||
int32_t rc_map_man_sw;
|
||||
int32_t rc_map_flaps;
|
||||
|
||||
int32_t rc_map_aux1;
|
||||
int32_t rc_map_aux2;
|
||||
int32_t rc_map_aux3;
|
||||
int32_t rc_map_aux4;
|
||||
int32_t rc_map_aux5;
|
||||
int32_t rc_map_aux6;
|
||||
|
||||
int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
|
||||
|
||||
int32_t rc_map_flightmode;
|
||||
|
||||
int32_t rc_fails_thr;
|
||||
float rc_assist_th;
|
||||
float rc_auto_th;
|
||||
float rc_rattitude_th;
|
||||
float rc_posctl_th;
|
||||
float rc_return_th;
|
||||
float rc_loiter_th;
|
||||
float rc_acro_th;
|
||||
float rc_offboard_th;
|
||||
float rc_killswitch_th;
|
||||
float rc_armswitch_th;
|
||||
float rc_trans_th;
|
||||
float rc_gear_th;
|
||||
float rc_stab_th;
|
||||
float rc_man_th;
|
||||
|
||||
bool rc_assist_inv;
|
||||
bool rc_auto_inv;
|
||||
bool rc_rattitude_inv;
|
||||
bool rc_posctl_inv;
|
||||
bool rc_return_inv;
|
||||
bool rc_loiter_inv;
|
||||
bool rc_acro_inv;
|
||||
bool rc_offboard_inv;
|
||||
bool rc_killswitch_inv;
|
||||
bool rc_armswitch_inv;
|
||||
bool rc_trans_inv;
|
||||
bool rc_gear_inv;
|
||||
bool rc_stab_inv;
|
||||
bool rc_man_inv;
|
||||
|
||||
float rc_flt_smp_rate;
|
||||
float rc_flt_cutoff;
|
||||
};
|
||||
|
||||
struct ParameterHandles {
|
||||
param_t min[RC_MAX_CHAN_COUNT];
|
||||
param_t trim[RC_MAX_CHAN_COUNT];
|
||||
param_t max[RC_MAX_CHAN_COUNT];
|
||||
param_t rev[RC_MAX_CHAN_COUNT];
|
||||
param_t dz[RC_MAX_CHAN_COUNT];
|
||||
|
||||
param_t rc_map_roll;
|
||||
param_t rc_map_pitch;
|
||||
param_t rc_map_yaw;
|
||||
param_t rc_map_throttle;
|
||||
param_t rc_map_failsafe;
|
||||
|
||||
param_t rc_map_mode_sw;
|
||||
param_t rc_map_return_sw;
|
||||
param_t rc_map_rattitude_sw;
|
||||
param_t rc_map_posctl_sw;
|
||||
param_t rc_map_loiter_sw;
|
||||
param_t rc_map_acro_sw;
|
||||
param_t rc_map_offboard_sw;
|
||||
param_t rc_map_kill_sw;
|
||||
param_t rc_map_arm_sw;
|
||||
param_t rc_map_trans_sw;
|
||||
param_t rc_map_gear_sw;
|
||||
param_t rc_map_flaps;
|
||||
param_t rc_map_stab_sw;
|
||||
param_t rc_map_man_sw;
|
||||
|
||||
param_t rc_map_aux1;
|
||||
param_t rc_map_aux2;
|
||||
param_t rc_map_aux3;
|
||||
param_t rc_map_aux4;
|
||||
param_t rc_map_aux5;
|
||||
param_t rc_map_aux6;
|
||||
|
||||
param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
|
||||
param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< param handles for the parameters which are bound
|
||||
to a RC channel, equivalent float values in the
|
||||
_parameters struct are not existing
|
||||
because these parameters are never read. */
|
||||
|
||||
param_t rc_map_flightmode;
|
||||
|
||||
param_t rc_fails_thr;
|
||||
param_t rc_assist_th;
|
||||
param_t rc_auto_th;
|
||||
param_t rc_rattitude_th;
|
||||
param_t rc_posctl_th;
|
||||
param_t rc_return_th;
|
||||
param_t rc_loiter_th;
|
||||
param_t rc_acro_th;
|
||||
param_t rc_offboard_th;
|
||||
param_t rc_killswitch_th;
|
||||
param_t rc_armswitch_th;
|
||||
param_t rc_trans_th;
|
||||
param_t rc_gear_th;
|
||||
param_t rc_stab_th;
|
||||
param_t rc_man_th;
|
||||
|
||||
param_t rc_flt_smp_rate;
|
||||
param_t rc_flt_cutoff;
|
||||
};
|
||||
|
||||
/**
|
||||
* initialize ParameterHandles struct
|
||||
*/
|
||||
void initialize_parameter_handles(ParameterHandles ¶meter_handles);
|
||||
|
||||
|
||||
/**
|
||||
* Read out the parameters using the handles into the parameters struct.
|
||||
* @return 0 on success, <0 on error
|
||||
*/
|
||||
int update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters);
|
||||
|
||||
} /* namespace RCUpdate */
|
||||
@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@ -39,18 +39,53 @@
|
||||
|
||||
#include "rc_update.h"
|
||||
|
||||
using namespace sensors;
|
||||
#include "parameters.h"
|
||||
|
||||
RCUpdate::RCUpdate(const Parameters ¶meters)
|
||||
: _parameters(parameters),
|
||||
_filter_roll(50.0f, 10.f), /* get replaced by parameter */
|
||||
_filter_pitch(50.0f, 10.f),
|
||||
_filter_yaw(50.0f, 10.f),
|
||||
_filter_throttle(50.0f, 10.f)
|
||||
namespace RCUpdate
|
||||
{
|
||||
|
||||
RCUpdate::RCUpdate() :
|
||||
ModuleParams(nullptr),
|
||||
WorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
|
||||
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME)),
|
||||
_filter_roll(50.0f, 10.f), /* get replaced by parameter */
|
||||
_filter_pitch(50.0f, 10.f),
|
||||
_filter_yaw(50.0f, 10.f),
|
||||
_filter_throttle(50.0f, 10.f)
|
||||
{
|
||||
initialize_parameter_handles(_parameter_handles);
|
||||
rc_parameter_map_poll(true /* forced */);
|
||||
|
||||
parameters_updated();
|
||||
}
|
||||
|
||||
void RCUpdate::update_rc_functions()
|
||||
RCUpdate::~RCUpdate()
|
||||
{
|
||||
perf_free(_loop_perf);
|
||||
}
|
||||
|
||||
bool
|
||||
RCUpdate::init()
|
||||
{
|
||||
if (!_input_rc_sub.registerCallback()) {
|
||||
PX4_ERR("input_rc callback registration failed!");
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void
|
||||
RCUpdate::parameters_updated()
|
||||
{
|
||||
/* read the parameter values into _parameters */
|
||||
update_parameters(_parameter_handles, _parameters);
|
||||
|
||||
update_rc_functions();
|
||||
}
|
||||
|
||||
void
|
||||
RCUpdate::update_rc_functions()
|
||||
{
|
||||
/* update RC function mappings */
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
|
||||
@ -97,9 +132,9 @@ void RCUpdate::update_rc_functions()
|
||||
}
|
||||
|
||||
void
|
||||
RCUpdate::rc_parameter_map_poll(ParameterHandles ¶meter_handles, bool forced)
|
||||
RCUpdate::rc_parameter_map_poll(bool forced)
|
||||
{
|
||||
if (_rc_parameter_map_sub.updated()) {
|
||||
if (_rc_parameter_map_sub.updated() || forced) {
|
||||
_rc_parameter_map_sub.copy(&_rc_parameter_map);
|
||||
|
||||
/* update parameter handles to which the RC channels are mapped */
|
||||
@ -113,10 +148,10 @@ RCUpdate::rc_parameter_map_poll(ParameterHandles ¶meter_handles, bool forced
|
||||
|
||||
/* Set the handle by index if the index is set, otherwise use the id */
|
||||
if (_rc_parameter_map.param_index[i] >= 0) {
|
||||
parameter_handles.rc_param[i] = param_for_used_index((unsigned)_rc_parameter_map.param_index[i]);
|
||||
_parameter_handles.rc_param[i] = param_for_used_index((unsigned)_rc_parameter_map.param_index[i]);
|
||||
|
||||
} else {
|
||||
parameter_handles.rc_param[i] = param_find(&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)]);
|
||||
_parameter_handles.rc_param[i] = param_find(&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)]);
|
||||
}
|
||||
|
||||
}
|
||||
@ -188,7 +223,7 @@ RCUpdate::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
|
||||
}
|
||||
|
||||
void
|
||||
RCUpdate::set_params_from_rc(const ParameterHandles ¶meter_handles)
|
||||
RCUpdate::set_params_from_rc()
|
||||
{
|
||||
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
|
||||
if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
|
||||
@ -207,21 +242,42 @@ RCUpdate::set_params_from_rc(const ParameterHandles ¶meter_handles)
|
||||
float param_val = math::constrain(
|
||||
_rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val,
|
||||
_rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]);
|
||||
param_set(parameter_handles.rc_param[i], ¶m_val);
|
||||
param_set(_parameter_handles.rc_param[i], ¶m_val);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
RCUpdate::rc_poll(const ParameterHandles ¶meter_handles)
|
||||
RCUpdate::Run()
|
||||
{
|
||||
if (_rc_sub.updated()) {
|
||||
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
|
||||
input_rc_s rc_input{};
|
||||
_rc_sub.copy(&rc_input);
|
||||
if (should_exit()) {
|
||||
_input_rc_sub.unregisterCallback();
|
||||
exit_and_cleanup();
|
||||
return;
|
||||
}
|
||||
|
||||
perf_begin(_loop_perf);
|
||||
|
||||
// check for parameter updates
|
||||
if (_parameter_update_sub.updated()) {
|
||||
// clear update
|
||||
parameter_update_s pupdate;
|
||||
_parameter_update_sub.copy(&pupdate);
|
||||
|
||||
// update parameters from storage
|
||||
updateParams();
|
||||
parameters_updated();
|
||||
}
|
||||
|
||||
rc_parameter_map_poll();
|
||||
|
||||
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
|
||||
input_rc_s rc_input;
|
||||
|
||||
if (_input_rc_sub.copy(&rc_input)) {
|
||||
|
||||
/* detect RC signal loss */
|
||||
bool signal_lost;
|
||||
bool signal_lost = true;
|
||||
|
||||
/* check flags and require at least four channels to consider the signal valid */
|
||||
if (rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4) {
|
||||
@ -422,9 +478,83 @@ RCUpdate::rc_poll(const ParameterHandles ¶meter_handles)
|
||||
|
||||
/* Update parameters from RC Channels (tuning with RC) if activated */
|
||||
if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1e6) {
|
||||
set_params_from_rc(parameter_handles);
|
||||
set_params_from_rc();
|
||||
_last_rc_to_param_map_time = hrt_absolute_time();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
perf_end(_loop_perf);
|
||||
}
|
||||
|
||||
int
|
||||
RCUpdate::task_spawn(int argc, char *argv[])
|
||||
{
|
||||
RCUpdate *instance = new RCUpdate();
|
||||
|
||||
if (instance) {
|
||||
_object.store(instance);
|
||||
_task_id = task_id_is_work_queue;
|
||||
|
||||
if (instance->init()) {
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_ERR("alloc failed");
|
||||
}
|
||||
|
||||
delete instance;
|
||||
_object.store(nullptr);
|
||||
_task_id = -1;
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
int
|
||||
RCUpdate::print_status()
|
||||
{
|
||||
PX4_INFO("Running");
|
||||
perf_print_counter(_loop_perf);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int
|
||||
RCUpdate::custom_command(int argc, char *argv[])
|
||||
{
|
||||
return print_usage("unknown command");
|
||||
}
|
||||
|
||||
int
|
||||
RCUpdate::print_usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_WARN("%s\n", reason);
|
||||
}
|
||||
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
The rc_update module handles RC channel mapping: read the raw input channels (`input_rc`),
|
||||
then apply the calibration, map the RC channels to the configured channels & mode switches,
|
||||
low-pass filter, and then publish as `rc_channels` and `manual_control_setpoint`.
|
||||
|
||||
### Implementation
|
||||
To reduce control latency, the module is scheduled on input_rc publications.
|
||||
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("rc_update", "system");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace RCUpdate
|
||||
|
||||
extern "C" __EXPORT int rc_update_main(int argc, char *argv[])
|
||||
{
|
||||
return RCUpdate::RCUpdate::main(argc, argv);
|
||||
}
|
||||
@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
@ -41,18 +41,27 @@
|
||||
|
||||
#include "parameters.h"
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <mathlib/math/filter/LowPassFilter2p.hpp>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionCallback.hpp>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/rc_channels.h>
|
||||
#include <uORB/topics/rc_parameter_map.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
namespace sensors
|
||||
namespace RCUpdate
|
||||
{
|
||||
|
||||
/**
|
||||
@ -60,31 +69,43 @@ namespace sensors
|
||||
*
|
||||
* Handling of RC updates
|
||||
*/
|
||||
class RCUpdate
|
||||
class RCUpdate : public ModuleBase<RCUpdate>, public ModuleParams, public px4::WorkItem
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @param parameters parameter values. These do not have to be initialized when constructing this object.
|
||||
* Only when calling init(), they have to be initialized.
|
||||
*/
|
||||
RCUpdate(const Parameters ¶meters);
|
||||
RCUpdate();
|
||||
~RCUpdate() override;
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
void Run() override;
|
||||
bool init();
|
||||
|
||||
/** @see ModuleBase::print_status() */
|
||||
int print_status() override;
|
||||
|
||||
private:
|
||||
|
||||
/**
|
||||
* Check for changes in rc_parameter_map
|
||||
*/
|
||||
void rc_parameter_map_poll(ParameterHandles ¶meter_handles, bool forced = false);
|
||||
void rc_parameter_map_poll(bool forced = false);
|
||||
|
||||
/**
|
||||
* update the RC functions. Call this when the parameters change.
|
||||
*/
|
||||
void update_rc_functions();
|
||||
void update_rc_functions();
|
||||
|
||||
/**
|
||||
* Gather and publish RC input data.
|
||||
* Update our local parameter cache.
|
||||
*/
|
||||
void rc_poll(const ParameterHandles ¶meter_handles);
|
||||
|
||||
private:
|
||||
void parameters_updated();
|
||||
|
||||
/**
|
||||
* Get and limit value for specified RC function. Returns NAN if not mapped.
|
||||
@ -103,10 +124,16 @@ private:
|
||||
*
|
||||
* @param
|
||||
*/
|
||||
void set_params_from_rc(const ParameterHandles ¶meter_handles);
|
||||
void set_params_from_rc();
|
||||
|
||||
perf_counter_t _loop_perf; /**< loop performance counter */
|
||||
|
||||
uORB::Subscription _rc_sub{ORB_ID(input_rc)}; /**< raw rc channels data subscription */
|
||||
Parameters _parameters{}; /**< local copies of interesting parameters */
|
||||
ParameterHandles _parameter_handles{}; /**< handles for interesting parameters */
|
||||
|
||||
uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)};
|
||||
|
||||
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< notification of parameter updates */
|
||||
uORB::Subscription _rc_parameter_map_sub{ORB_ID(rc_parameter_map)}; /**< rc parameter map subscription */
|
||||
|
||||
uORB::Publication<rc_channels_s> _rc_pub{ORB_ID(rc_channels)}; /**< raw r/c control topic */
|
||||
@ -119,8 +146,6 @@ private:
|
||||
rc_parameter_map_s _rc_parameter_map {};
|
||||
float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN] {}; /**< parameter values for RC control */
|
||||
|
||||
const Parameters &_parameters;
|
||||
|
||||
hrt_abstime _last_rc_to_param_map_time = 0;
|
||||
|
||||
math::LowPassFilter2p _filter_roll; /**< filters for the main 4 stick inputs */
|
||||
@ -132,4 +157,4 @@ private:
|
||||
|
||||
|
||||
|
||||
} /* namespace sensors */
|
||||
} /* namespace RCUpdate */
|
||||
@ -40,7 +40,6 @@ px4_add_module(
|
||||
PRIORITY "SCHED_PRIORITY_MAX-5"
|
||||
SRCS
|
||||
voted_sensors_update.cpp
|
||||
rc_update.cpp
|
||||
sensors.cpp
|
||||
parameters.cpp
|
||||
temperature_compensation.cpp
|
||||
|
||||
@ -44,96 +44,6 @@ namespace sensors
|
||||
|
||||
void initialize_parameter_handles(ParameterHandles ¶meter_handles)
|
||||
{
|
||||
/* basic r/c parameters */
|
||||
for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) {
|
||||
char nbuf[16];
|
||||
|
||||
/* min values */
|
||||
sprintf(nbuf, "RC%d_MIN", i + 1);
|
||||
parameter_handles.min[i] = param_find(nbuf);
|
||||
|
||||
/* trim values */
|
||||
sprintf(nbuf, "RC%d_TRIM", i + 1);
|
||||
parameter_handles.trim[i] = param_find(nbuf);
|
||||
|
||||
/* max values */
|
||||
sprintf(nbuf, "RC%d_MAX", i + 1);
|
||||
parameter_handles.max[i] = param_find(nbuf);
|
||||
|
||||
/* channel reverse */
|
||||
sprintf(nbuf, "RC%d_REV", i + 1);
|
||||
parameter_handles.rev[i] = param_find(nbuf);
|
||||
|
||||
/* channel deadzone */
|
||||
sprintf(nbuf, "RC%d_DZ", i + 1);
|
||||
parameter_handles.dz[i] = param_find(nbuf);
|
||||
|
||||
}
|
||||
|
||||
/* mandatory input switched, mapped to channels 1-4 per default */
|
||||
parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL");
|
||||
parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
|
||||
parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW");
|
||||
parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
|
||||
parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE");
|
||||
|
||||
/* mandatory mode switches, mapped to channel 5 and 6 per default */
|
||||
parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
|
||||
parameter_handles.rc_map_return_sw = param_find("RC_MAP_RETURN_SW");
|
||||
|
||||
parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
|
||||
|
||||
/* optional mode switches, not mapped per default */
|
||||
parameter_handles.rc_map_rattitude_sw = param_find("RC_MAP_RATT_SW");
|
||||
parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW");
|
||||
parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
|
||||
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_arm_sw = param_find("RC_MAP_ARM_SW");
|
||||
parameter_handles.rc_map_trans_sw = param_find("RC_MAP_TRANS_SW");
|
||||
parameter_handles.rc_map_gear_sw = param_find("RC_MAP_GEAR_SW");
|
||||
parameter_handles.rc_map_stab_sw = param_find("RC_MAP_STAB_SW");
|
||||
parameter_handles.rc_map_man_sw = param_find("RC_MAP_MAN_SW");
|
||||
|
||||
parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
|
||||
parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
|
||||
parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3");
|
||||
parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
|
||||
parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
|
||||
parameter_handles.rc_map_aux6 = param_find("RC_MAP_AUX6");
|
||||
|
||||
/* RC to parameter mapping for changing parameters with RC */
|
||||
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
|
||||
char name[rc_parameter_map_s::PARAM_ID_LEN];
|
||||
snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d",
|
||||
i + 1); // shifted by 1 because param name starts at 1
|
||||
parameter_handles.rc_map_param[i] = param_find(name);
|
||||
}
|
||||
|
||||
parameter_handles.rc_map_flightmode = param_find("RC_MAP_FLTMODE");
|
||||
|
||||
/* RC thresholds */
|
||||
parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
|
||||
parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
|
||||
parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
|
||||
parameter_handles.rc_rattitude_th = param_find("RC_RATT_TH");
|
||||
parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH");
|
||||
parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
|
||||
parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
|
||||
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_armswitch_th = param_find("RC_ARMSWITCH_TH");
|
||||
parameter_handles.rc_trans_th = param_find("RC_TRANS_TH");
|
||||
parameter_handles.rc_gear_th = param_find("RC_GEAR_TH");
|
||||
parameter_handles.rc_stab_th = param_find("RC_STAB_TH");
|
||||
parameter_handles.rc_man_th = param_find("RC_MAN_TH");
|
||||
|
||||
/* RC low pass filter configuration */
|
||||
parameter_handles.rc_flt_smp_rate = param_find("RC_FLT_SMP_RATE");
|
||||
parameter_handles.rc_flt_cutoff = param_find("RC_FLT_CUTOFF");
|
||||
|
||||
/* Differential pressure offset */
|
||||
parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
|
||||
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
|
||||
@ -155,10 +65,6 @@ void initialize_parameter_handles(ParameterHandles ¶meter_handles)
|
||||
parameter_handles.air_tube_length = param_find("CAL_AIR_TUBELEN");
|
||||
parameter_handles.air_tube_diameter_mm = param_find("CAL_AIR_TUBED_MM");
|
||||
|
||||
// These are parameters for which QGroundControl always expects to be returned in a list request.
|
||||
// We do a param_find here to force them into the list.
|
||||
(void)param_find("RC_CHAN_CNT");
|
||||
|
||||
(void)param_find("BAT_V_DIV");
|
||||
(void)param_find("BAT_A_PER_V");
|
||||
|
||||
@ -187,186 +93,8 @@ void initialize_parameter_handles(ParameterHandles ¶meter_handles)
|
||||
(void)param_find("SYS_CAL_TMIN");
|
||||
}
|
||||
|
||||
int update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters)
|
||||
void update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters)
|
||||
{
|
||||
bool rc_valid = true;
|
||||
float tmpScaleFactor = 0.0f;
|
||||
float tmpRevFactor = 0.0f;
|
||||
int ret = PX4_OK;
|
||||
|
||||
/* rc values */
|
||||
for (unsigned int i = 0; i < RC_MAX_CHAN_COUNT; i++) {
|
||||
|
||||
param_get(parameter_handles.min[i], &(parameters.min[i]));
|
||||
param_get(parameter_handles.trim[i], &(parameters.trim[i]));
|
||||
param_get(parameter_handles.max[i], &(parameters.max[i]));
|
||||
param_get(parameter_handles.rev[i], &(parameters.rev[i]));
|
||||
param_get(parameter_handles.dz[i], &(parameters.dz[i]));
|
||||
|
||||
tmpScaleFactor = (1.0f / ((parameters.max[i] - parameters.min[i]) / 2.0f) * parameters.rev[i]);
|
||||
tmpRevFactor = tmpScaleFactor * parameters.rev[i];
|
||||
|
||||
/* handle blowup in the scaling factor calculation */
|
||||
if (!PX4_ISFINITE(tmpScaleFactor) ||
|
||||
(tmpRevFactor < 0.000001f) ||
|
||||
(tmpRevFactor > 0.2f)) {
|
||||
PX4_WARN("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(parameters.rev[i]));
|
||||
/* scaling factors do not make sense, lock them down */
|
||||
parameters.scaling_factor[i] = 0.0f;
|
||||
rc_valid = false;
|
||||
|
||||
} else {
|
||||
parameters.scaling_factor[i] = tmpScaleFactor;
|
||||
}
|
||||
}
|
||||
|
||||
/* handle wrong values */
|
||||
if (!rc_valid) {
|
||||
PX4_ERR("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
|
||||
}
|
||||
|
||||
const char *paramerr = "FAIL PARM LOAD";
|
||||
|
||||
/* channel mapping */
|
||||
if (param_get(parameter_handles.rc_map_roll, &(parameters.rc_map_roll)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_pitch, &(parameters.rc_map_pitch)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_yaw, &(parameters.rc_map_yaw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_throttle, &(parameters.rc_map_throttle)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_failsafe, &(parameters.rc_map_failsafe)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_mode_sw, &(parameters.rc_map_mode_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_return_sw, &(parameters.rc_map_return_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_rattitude_sw, &(parameters.rc_map_rattitude_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_posctl_sw, &(parameters.rc_map_posctl_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_loiter_sw, &(parameters.rc_map_loiter_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_acro_sw, &(parameters.rc_map_acro_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_offboard_sw, &(parameters.rc_map_offboard_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_kill_sw, &(parameters.rc_map_kill_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_arm_sw, &(parameters.rc_map_arm_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_trans_sw, &(parameters.rc_map_trans_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_flaps, &(parameters.rc_map_flaps)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_gear_sw, &(parameters.rc_map_gear_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_stab_sw, &(parameters.rc_map_stab_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
if (param_get(parameter_handles.rc_map_man_sw, &(parameters.rc_map_man_sw)) != OK) {
|
||||
PX4_WARN("%s", paramerr);
|
||||
}
|
||||
|
||||
param_get(parameter_handles.rc_map_aux1, &(parameters.rc_map_aux1));
|
||||
param_get(parameter_handles.rc_map_aux2, &(parameters.rc_map_aux2));
|
||||
param_get(parameter_handles.rc_map_aux3, &(parameters.rc_map_aux3));
|
||||
param_get(parameter_handles.rc_map_aux4, &(parameters.rc_map_aux4));
|
||||
param_get(parameter_handles.rc_map_aux5, &(parameters.rc_map_aux5));
|
||||
param_get(parameter_handles.rc_map_aux6, &(parameters.rc_map_aux6));
|
||||
|
||||
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
|
||||
param_get(parameter_handles.rc_map_param[i], &(parameters.rc_map_param[i]));
|
||||
}
|
||||
|
||||
param_get(parameter_handles.rc_map_flightmode, &(parameters.rc_map_flightmode));
|
||||
|
||||
param_get(parameter_handles.rc_fails_thr, &(parameters.rc_fails_thr));
|
||||
param_get(parameter_handles.rc_assist_th, &(parameters.rc_assist_th));
|
||||
parameters.rc_assist_inv = (parameters.rc_assist_th < 0);
|
||||
parameters.rc_assist_th = fabsf(parameters.rc_assist_th);
|
||||
param_get(parameter_handles.rc_auto_th, &(parameters.rc_auto_th));
|
||||
parameters.rc_auto_inv = (parameters.rc_auto_th < 0);
|
||||
parameters.rc_auto_th = fabsf(parameters.rc_auto_th);
|
||||
param_get(parameter_handles.rc_rattitude_th, &(parameters.rc_rattitude_th));
|
||||
parameters.rc_rattitude_inv = (parameters.rc_rattitude_th < 0);
|
||||
parameters.rc_rattitude_th = fabsf(parameters.rc_rattitude_th);
|
||||
param_get(parameter_handles.rc_posctl_th, &(parameters.rc_posctl_th));
|
||||
parameters.rc_posctl_inv = (parameters.rc_posctl_th < 0);
|
||||
parameters.rc_posctl_th = fabsf(parameters.rc_posctl_th);
|
||||
param_get(parameter_handles.rc_return_th, &(parameters.rc_return_th));
|
||||
parameters.rc_return_inv = (parameters.rc_return_th < 0);
|
||||
parameters.rc_return_th = fabsf(parameters.rc_return_th);
|
||||
param_get(parameter_handles.rc_loiter_th, &(parameters.rc_loiter_th));
|
||||
parameters.rc_loiter_inv = (parameters.rc_loiter_th < 0);
|
||||
parameters.rc_loiter_th = fabsf(parameters.rc_loiter_th);
|
||||
param_get(parameter_handles.rc_acro_th, &(parameters.rc_acro_th));
|
||||
parameters.rc_acro_inv = (parameters.rc_acro_th < 0);
|
||||
parameters.rc_acro_th = fabsf(parameters.rc_acro_th);
|
||||
param_get(parameter_handles.rc_offboard_th, &(parameters.rc_offboard_th));
|
||||
parameters.rc_offboard_inv = (parameters.rc_offboard_th < 0);
|
||||
parameters.rc_offboard_th = fabsf(parameters.rc_offboard_th);
|
||||
param_get(parameter_handles.rc_killswitch_th, &(parameters.rc_killswitch_th));
|
||||
parameters.rc_killswitch_inv = (parameters.rc_killswitch_th < 0);
|
||||
parameters.rc_killswitch_th = fabsf(parameters.rc_killswitch_th);
|
||||
param_get(parameter_handles.rc_armswitch_th, &(parameters.rc_armswitch_th));
|
||||
parameters.rc_armswitch_inv = (parameters.rc_armswitch_th < 0);
|
||||
parameters.rc_armswitch_th = fabsf(parameters.rc_armswitch_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 = fabsf(parameters.rc_trans_th);
|
||||
param_get(parameter_handles.rc_gear_th, &(parameters.rc_gear_th));
|
||||
parameters.rc_gear_inv = (parameters.rc_gear_th < 0);
|
||||
parameters.rc_gear_th = fabsf(parameters.rc_gear_th);
|
||||
param_get(parameter_handles.rc_stab_th, &(parameters.rc_stab_th));
|
||||
parameters.rc_stab_inv = (parameters.rc_stab_th < 0);
|
||||
parameters.rc_stab_th = fabsf(parameters.rc_stab_th);
|
||||
param_get(parameter_handles.rc_man_th, &(parameters.rc_man_th));
|
||||
parameters.rc_man_inv = (parameters.rc_man_th < 0);
|
||||
parameters.rc_man_th = fabsf(parameters.rc_man_th);
|
||||
|
||||
param_get(parameter_handles.rc_flt_smp_rate, &(parameters.rc_flt_smp_rate));
|
||||
parameters.rc_flt_smp_rate = math::max(1.0f, parameters.rc_flt_smp_rate);
|
||||
param_get(parameter_handles.rc_flt_cutoff, &(parameters.rc_flt_cutoff));
|
||||
/* make sure the filter is in its stable region -> fc < fs/2 */
|
||||
parameters.rc_flt_cutoff = math::min(parameters.rc_flt_cutoff, (parameters.rc_flt_smp_rate / 2) - 1.f);
|
||||
|
||||
/* Airspeed offset */
|
||||
param_get(parameter_handles.diff_pres_offset_pa, &(parameters.diff_pres_offset_pa));
|
||||
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
|
||||
@ -384,8 +112,6 @@ int update_parameters(const ParameterHandles ¶meter_handles, Parameters &par
|
||||
param_get(parameter_handles.air_cmodel, ¶meters.air_cmodel);
|
||||
param_get(parameter_handles.air_tube_length, ¶meters.air_tube_length);
|
||||
param_get(parameter_handles.air_tube_diameter_mm, ¶meters.air_tube_diameter_mm);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
} /* namespace sensors */
|
||||
|
||||
@ -40,29 +40,13 @@
|
||||
*
|
||||
* @author Beat Kueng <beat-kueng@gmx.net>
|
||||
*/
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <drivers/drv_rc_input.h>
|
||||
|
||||
#include <parameters/param.h>
|
||||
#include <mathlib/mathlib.h>
|
||||
|
||||
#include <uORB/topics/rc_parameter_map.h>
|
||||
#include <uORB/topics/input_rc.h>
|
||||
#include <lib/parameters/param.h>
|
||||
|
||||
namespace sensors
|
||||
{
|
||||
|
||||
static const unsigned RC_MAX_CHAN_COUNT =
|
||||
input_rc_s::RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
|
||||
|
||||
struct Parameters {
|
||||
float min[RC_MAX_CHAN_COUNT];
|
||||
float trim[RC_MAX_CHAN_COUNT];
|
||||
float max[RC_MAX_CHAN_COUNT];
|
||||
float rev[RC_MAX_CHAN_COUNT];
|
||||
float dz[RC_MAX_CHAN_COUNT];
|
||||
float scaling_factor[RC_MAX_CHAN_COUNT];
|
||||
|
||||
float diff_pres_offset_pa;
|
||||
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
|
||||
float diff_pres_analog_scale;
|
||||
@ -72,72 +56,6 @@ struct Parameters {
|
||||
|
||||
float board_offset[3];
|
||||
|
||||
int32_t rc_map_roll;
|
||||
int32_t rc_map_pitch;
|
||||
int32_t rc_map_yaw;
|
||||
int32_t rc_map_throttle;
|
||||
int32_t rc_map_failsafe;
|
||||
|
||||
int32_t rc_map_mode_sw;
|
||||
int32_t rc_map_return_sw;
|
||||
int32_t rc_map_rattitude_sw;
|
||||
int32_t rc_map_posctl_sw;
|
||||
int32_t rc_map_loiter_sw;
|
||||
int32_t rc_map_acro_sw;
|
||||
int32_t rc_map_offboard_sw;
|
||||
int32_t rc_map_kill_sw;
|
||||
int32_t rc_map_arm_sw;
|
||||
int32_t rc_map_trans_sw;
|
||||
int32_t rc_map_gear_sw;
|
||||
int32_t rc_map_stab_sw;
|
||||
int32_t rc_map_man_sw;
|
||||
int32_t rc_map_flaps;
|
||||
|
||||
int32_t rc_map_aux1;
|
||||
int32_t rc_map_aux2;
|
||||
int32_t rc_map_aux3;
|
||||
int32_t rc_map_aux4;
|
||||
int32_t rc_map_aux5;
|
||||
int32_t rc_map_aux6;
|
||||
|
||||
int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
|
||||
|
||||
int32_t rc_map_flightmode;
|
||||
|
||||
int32_t rc_fails_thr;
|
||||
float rc_assist_th;
|
||||
float rc_auto_th;
|
||||
float rc_rattitude_th;
|
||||
float rc_posctl_th;
|
||||
float rc_return_th;
|
||||
float rc_loiter_th;
|
||||
float rc_acro_th;
|
||||
float rc_offboard_th;
|
||||
float rc_killswitch_th;
|
||||
float rc_armswitch_th;
|
||||
float rc_trans_th;
|
||||
float rc_gear_th;
|
||||
float rc_stab_th;
|
||||
float rc_man_th;
|
||||
|
||||
bool rc_assist_inv;
|
||||
bool rc_auto_inv;
|
||||
bool rc_rattitude_inv;
|
||||
bool rc_posctl_inv;
|
||||
bool rc_return_inv;
|
||||
bool rc_loiter_inv;
|
||||
bool rc_acro_inv;
|
||||
bool rc_offboard_inv;
|
||||
bool rc_killswitch_inv;
|
||||
bool rc_armswitch_inv;
|
||||
bool rc_trans_inv;
|
||||
bool rc_gear_inv;
|
||||
bool rc_stab_inv;
|
||||
bool rc_man_inv;
|
||||
|
||||
float rc_flt_smp_rate;
|
||||
float rc_flt_cutoff;
|
||||
|
||||
float baro_qnh;
|
||||
|
||||
int32_t air_cmodel;
|
||||
@ -146,72 +64,11 @@ struct Parameters {
|
||||
};
|
||||
|
||||
struct ParameterHandles {
|
||||
param_t min[RC_MAX_CHAN_COUNT];
|
||||
param_t trim[RC_MAX_CHAN_COUNT];
|
||||
param_t max[RC_MAX_CHAN_COUNT];
|
||||
param_t rev[RC_MAX_CHAN_COUNT];
|
||||
param_t dz[RC_MAX_CHAN_COUNT];
|
||||
|
||||
param_t diff_pres_offset_pa;
|
||||
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
|
||||
param_t diff_pres_analog_scale;
|
||||
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
|
||||
|
||||
param_t rc_map_roll;
|
||||
param_t rc_map_pitch;
|
||||
param_t rc_map_yaw;
|
||||
param_t rc_map_throttle;
|
||||
param_t rc_map_failsafe;
|
||||
|
||||
param_t rc_map_mode_sw;
|
||||
param_t rc_map_return_sw;
|
||||
param_t rc_map_rattitude_sw;
|
||||
param_t rc_map_posctl_sw;
|
||||
param_t rc_map_loiter_sw;
|
||||
param_t rc_map_acro_sw;
|
||||
param_t rc_map_offboard_sw;
|
||||
param_t rc_map_kill_sw;
|
||||
param_t rc_map_arm_sw;
|
||||
param_t rc_map_trans_sw;
|
||||
param_t rc_map_gear_sw;
|
||||
param_t rc_map_flaps;
|
||||
param_t rc_map_stab_sw;
|
||||
param_t rc_map_man_sw;
|
||||
|
||||
param_t rc_map_aux1;
|
||||
param_t rc_map_aux2;
|
||||
param_t rc_map_aux3;
|
||||
param_t rc_map_aux4;
|
||||
param_t rc_map_aux5;
|
||||
param_t rc_map_aux6;
|
||||
|
||||
param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
|
||||
param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< param handles for the parameters which are bound
|
||||
to a RC channel, equivalent float values in the
|
||||
_parameters struct are not existing
|
||||
because these parameters are never read. */
|
||||
|
||||
param_t rc_map_flightmode;
|
||||
|
||||
param_t rc_fails_thr;
|
||||
param_t rc_assist_th;
|
||||
param_t rc_auto_th;
|
||||
param_t rc_rattitude_th;
|
||||
param_t rc_posctl_th;
|
||||
param_t rc_return_th;
|
||||
param_t rc_loiter_th;
|
||||
param_t rc_acro_th;
|
||||
param_t rc_offboard_th;
|
||||
param_t rc_killswitch_th;
|
||||
param_t rc_armswitch_th;
|
||||
param_t rc_trans_th;
|
||||
param_t rc_gear_th;
|
||||
param_t rc_stab_th;
|
||||
param_t rc_man_th;
|
||||
|
||||
param_t rc_flt_smp_rate;
|
||||
param_t rc_flt_cutoff;
|
||||
|
||||
param_t board_rotation;
|
||||
|
||||
param_t board_offset[3];
|
||||
@ -234,6 +91,6 @@ void initialize_parameter_handles(ParameterHandles ¶meter_handles);
|
||||
* Read out the parameters using the handles into the parameters struct.
|
||||
* @return 0 on success, <0 on error
|
||||
*/
|
||||
int update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters);
|
||||
void update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters);
|
||||
|
||||
} /* namespace sensors */
|
||||
|
||||
@ -41,53 +41,36 @@
|
||||
* @author Beat Küng <beat-kueng@gmx.net>
|
||||
*/
|
||||
|
||||
#include <board_config.h>
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
#include <px4_platform_common/tasks.h>
|
||||
#include <px4_platform_common/time.h>
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <poll.h>
|
||||
#include <unistd.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <errno.h>
|
||||
#include <math.h>
|
||||
#include <mathlib/mathlib.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_rc_input.h>
|
||||
#include <drivers/drv_adc.h>
|
||||
#include <drivers/drv_airspeed.h>
|
||||
|
||||
#include <airspeed/airspeed.h>
|
||||
#include <parameters/param.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <perf/perf_counter.h>
|
||||
|
||||
#include <conversion/rotation.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/airspeed/airspeed.h>
|
||||
#include <lib/conversion/rotation.h>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
#include <lib/parameters/param.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/tasks.h>
|
||||
#include <px4_platform_common/time.h>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/differential_pressure.h>
|
||||
#include <uORB/topics/airspeed.h>
|
||||
#include <uORB/topics/differential_pressure.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/sensor_preflight.h>
|
||||
#include <uORB/topics/vehicle_air_data.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
#include <uORB/topics/vehicle_magnetometer.h>
|
||||
|
||||
#include <DevMgr.hpp>
|
||||
|
||||
#include "parameters.h"
|
||||
#include "rc_update.h"
|
||||
#include "voted_sensors_update.h"
|
||||
|
||||
#include "vehicle_acceleration/VehicleAcceleration.hpp"
|
||||
@ -102,15 +85,6 @@ using namespace time_literals;
|
||||
* subtract 5 degrees in an attempt to account for the electrical upheating of the PCB
|
||||
*/
|
||||
#define PCB_TEMP_ESTIMATE_DEG 5.0f
|
||||
#define STICK_ON_OFF_LIMIT 0.75f
|
||||
|
||||
/**
|
||||
* Sensor app start / stop handling function
|
||||
*
|
||||
* @ingroup apps
|
||||
*/
|
||||
extern "C" __EXPORT int sensors_main(int argc, char *argv[]);
|
||||
|
||||
class Sensors : public ModuleBase<Sensors>, public ModuleParams
|
||||
{
|
||||
public:
|
||||
@ -166,7 +140,6 @@ private:
|
||||
Parameters _parameters{}; /**< local copies of interesting parameters */
|
||||
ParameterHandles _parameter_handles{}; /**< handles for interesting parameters */
|
||||
|
||||
RCUpdate _rc_update;
|
||||
VotedSensorsUpdate _voted_sensors_update;
|
||||
|
||||
|
||||
@ -211,7 +184,6 @@ Sensors::Sensors(bool hil_enabled) :
|
||||
ModuleParams(nullptr),
|
||||
_hil_enabled(hil_enabled),
|
||||
_loop_perf(perf_alloc(PC_ELAPSED, "sensors")),
|
||||
_rc_update(_parameters),
|
||||
_voted_sensors_update(_parameters, hil_enabled)
|
||||
{
|
||||
initialize_parameter_handles(_parameter_handles);
|
||||
@ -237,16 +209,11 @@ Sensors::parameters_update()
|
||||
}
|
||||
|
||||
/* read the parameter values into _parameters */
|
||||
int ret = update_parameters(_parameter_handles, _parameters);
|
||||
update_parameters(_parameter_handles, _parameters);
|
||||
|
||||
if (ret) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
_rc_update.update_rc_functions();
|
||||
_voted_sensors_update.parametersUpdate();
|
||||
|
||||
return ret;
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
@ -438,8 +405,6 @@ Sensors::run()
|
||||
|
||||
diff_pres_poll(airdata);
|
||||
|
||||
_rc_update.rc_parameter_map_poll(_parameter_handles, true /* forced */);
|
||||
|
||||
/* wakeup source */
|
||||
px4_pollfd_struct_t poll_fds = {};
|
||||
poll_fds.events = POLLIN;
|
||||
@ -532,14 +497,8 @@ Sensors::run()
|
||||
|
||||
/* check parameters for updates */
|
||||
parameter_update_poll();
|
||||
|
||||
/* check rc parameter map for updates */
|
||||
_rc_update.rc_parameter_map_poll(_parameter_handles);
|
||||
}
|
||||
|
||||
/* Look for new r/c input data */
|
||||
_rc_update.rc_poll(_parameter_handles);
|
||||
|
||||
perf_end(_loop_perf);
|
||||
}
|
||||
|
||||
@ -599,9 +558,6 @@ The provided functionality includes:
|
||||
If there are multiple of the same type, do voting and failover handling.
|
||||
Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
|
||||
topics is `sensor_combined`, used by many parts of the system.
|
||||
- Do RC channel mapping: read the raw input channels (`input_rc`), then apply the calibration, map the RC channels
|
||||
to the configured channels & mode switches, low-pass filter, and then publish as `rc_channels` and
|
||||
`manual_control_setpoint`.
|
||||
- Make sure the sensor drivers get the updated calibration parameters (scale & offset) when the parameters change or
|
||||
on startup. The sensor drivers use the ioctl interface for parameter updates. For this to work properly, the
|
||||
sensor drivers must already be running when `sensors` is started.
|
||||
@ -653,7 +609,7 @@ Sensors *Sensors::instantiate(int argc, char *argv[])
|
||||
return new Sensors(hil_enabled);
|
||||
}
|
||||
|
||||
int sensors_main(int argc, char *argv[])
|
||||
extern "C" __EXPORT int sensors_main(int argc, char *argv[])
|
||||
{
|
||||
return Sensors::main(argc, argv);
|
||||
}
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user