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sensors split rc_update into new standalone module
This commit is contained in:
Daniel Agar
@@ -0,0 +1,560 @@
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/****************************************************************************
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*
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* Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file rc_update.cpp
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*
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* @author Beat Kueng <beat-kueng@gmx.net>
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*/
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#include "rc_update.h"
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#include "parameters.h"
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namespace RCUpdate
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{
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RCUpdate::RCUpdate() :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME)),
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_filter_roll(50.0f, 10.f), /* get replaced by parameter */
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_filter_pitch(50.0f, 10.f),
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_filter_yaw(50.0f, 10.f),
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_filter_throttle(50.0f, 10.f)
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{
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initialize_parameter_handles(_parameter_handles);
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rc_parameter_map_poll(true /* forced */);
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parameters_updated();
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}
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RCUpdate::~RCUpdate()
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{
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perf_free(_loop_perf);
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}
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bool
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RCUpdate::init()
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{
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if (!_input_rc_sub.registerCallback()) {
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PX4_ERR("input_rc callback registration failed!");
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return false;
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}
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return true;
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}
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void
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RCUpdate::parameters_updated()
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{
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/* read the parameter values into _parameters */
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update_parameters(_parameter_handles, _parameters);
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update_rc_functions();
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}
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void
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RCUpdate::update_rc_functions()
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{
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/* update RC function mappings */
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE] = _parameters.rc_map_rattitude_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _parameters.rc_map_kill_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH] = _parameters.rc_map_arm_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _parameters.rc_map_trans_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_GEAR] = _parameters.rc_map_gear_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_STAB] = _parameters.rc_map_stab_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MAN] = _parameters.rc_map_man_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6] = _parameters.rc_map_aux6 - 1;
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for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
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}
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/* update the RC low pass filter frequencies */
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_filter_roll.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
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_filter_pitch.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
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_filter_yaw.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
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_filter_throttle.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
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_filter_roll.reset(0.f);
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_filter_pitch.reset(0.f);
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_filter_yaw.reset(0.f);
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_filter_throttle.reset(0.f);
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}
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void
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RCUpdate::rc_parameter_map_poll(bool forced)
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{
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if (_rc_parameter_map_sub.updated() || forced) {
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_rc_parameter_map_sub.copy(&_rc_parameter_map);
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/* update parameter handles to which the RC channels are mapped */
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for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
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if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
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/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
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* or no request to map this channel to a param has been sent via mavlink
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*/
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continue;
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}
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/* Set the handle by index if the index is set, otherwise use the id */
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if (_rc_parameter_map.param_index[i] >= 0) {
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_parameter_handles.rc_param[i] = param_for_used_index((unsigned)_rc_parameter_map.param_index[i]);
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} else {
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_parameter_handles.rc_param[i] = param_find(&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)]);
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}
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}
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PX4_DEBUG("rc to parameter map updated");
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for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
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PX4_DEBUG("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f",
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i,
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&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)],
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(double)_rc_parameter_map.scale[i],
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(double)_rc_parameter_map.value0[i],
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(double)_rc_parameter_map.value_min[i],
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(double)_rc_parameter_map.value_max[i]
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);
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}
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}
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}
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float
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RCUpdate::get_rc_value(uint8_t func, float min_value, float max_value)
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{
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if (_rc.function[func] >= 0) {
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float value = _rc.channels[_rc.function[func]];
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return math::constrain(value, min_value, max_value);
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} else {
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return 0.0f;
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}
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}
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switch_pos_t
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RCUpdate::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv)
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{
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if (_rc.function[func] >= 0) {
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float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
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if (on_inv ? value < on_th : value > on_th) {
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return manual_control_setpoint_s::SWITCH_POS_ON;
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} else if (mid_inv ? value < mid_th : value > mid_th) {
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return manual_control_setpoint_s::SWITCH_POS_MIDDLE;
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} else {
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return manual_control_setpoint_s::SWITCH_POS_OFF;
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}
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} else {
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return manual_control_setpoint_s::SWITCH_POS_NONE;
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}
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}
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switch_pos_t
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RCUpdate::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
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{
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if (_rc.function[func] >= 0) {
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float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
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if (on_inv ? value < on_th : value > on_th) {
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return manual_control_setpoint_s::SWITCH_POS_ON;
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} else {
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return manual_control_setpoint_s::SWITCH_POS_OFF;
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}
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} else {
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return manual_control_setpoint_s::SWITCH_POS_NONE;
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}
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}
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void
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RCUpdate::set_params_from_rc()
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{
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for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
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if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
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/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
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* or no request to map this channel to a param has been sent via mavlink
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*/
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continue;
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}
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float rc_val = get_rc_value((rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0);
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/* Check if the value has changed,
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* maybe we need to introduce a more aggressive limit here */
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if (rc_val > _param_rc_values[i] + FLT_EPSILON || rc_val < _param_rc_values[i] - FLT_EPSILON) {
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_param_rc_values[i] = rc_val;
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float param_val = math::constrain(
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_rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val,
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_rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]);
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param_set(_parameter_handles.rc_param[i], ¶m_val);
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}
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}
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}
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void
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RCUpdate::Run()
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{
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if (should_exit()) {
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_input_rc_sub.unregisterCallback();
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exit_and_cleanup();
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return;
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}
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perf_begin(_loop_perf);
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// check for parameter updates
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if (_parameter_update_sub.updated()) {
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// clear update
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parameter_update_s pupdate;
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_parameter_update_sub.copy(&pupdate);
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// update parameters from storage
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updateParams();
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parameters_updated();
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}
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rc_parameter_map_poll();
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/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
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input_rc_s rc_input;
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if (_input_rc_sub.copy(&rc_input)) {
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/* detect RC signal loss */
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bool signal_lost = true;
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/* check flags and require at least four channels to consider the signal valid */
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if (rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4) {
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/* signal is lost or no enough channels */
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signal_lost = true;
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} else {
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/* signal looks good */
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signal_lost = false;
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/* check failsafe */
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int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle
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if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping
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fs_ch = _parameters.rc_map_failsafe - 1;
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}
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if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) {
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/* failsafe configured */
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if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) ||
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(_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) {
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/* failsafe triggered, signal is lost by receiver */
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signal_lost = true;
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}
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}
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}
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unsigned channel_limit = rc_input.channel_count;
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if (channel_limit > RC_MAX_CHAN_COUNT) {
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channel_limit = RC_MAX_CHAN_COUNT;
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}
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/* read out and scale values from raw message even if signal is invalid */
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for (unsigned int i = 0; i < channel_limit; i++) {
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/*
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* 1) Constrain to min/max values, as later processing depends on bounds.
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*/
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if (rc_input.values[i] < _parameters.min[i]) {
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rc_input.values[i] = _parameters.min[i];
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}
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if (rc_input.values[i] > _parameters.max[i]) {
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rc_input.values[i] = _parameters.max[i];
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}
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/*
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* 2) Scale around the mid point differently for lower and upper range.
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*
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* This is necessary as they don't share the same endpoints and slope.
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*
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* First normalize to 0..1 range with correct sign (below or above center),
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* the total range is 2 (-1..1).
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* If center (trim) == min, scale to 0..1, if center (trim) == max,
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* scale to -1..0.
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*
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* As the min and max bounds were enforced in step 1), division by zero
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* cannot occur, as for the case of center == min or center == max the if
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* statement is mutually exclusive with the arithmetic NaN case.
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*
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* DO NOT REMOVE OR ALTER STEP 1!
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*/
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if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
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_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(
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_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
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} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
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_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(
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_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
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} else {
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/* in the configured dead zone, output zero */
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_rc.channels[i] = 0.0f;
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}
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_rc.channels[i] *= _parameters.rev[i];
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/* handle any parameter-induced blowups */
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if (!PX4_ISFINITE(_rc.channels[i])) {
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_rc.channels[i] = 0.0f;
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}
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}
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_rc.channel_count = rc_input.channel_count;
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_rc.rssi = rc_input.rssi;
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_rc.signal_lost = signal_lost;
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_rc.timestamp = rc_input.timestamp_last_signal;
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_rc.frame_drop_count = rc_input.rc_lost_frame_count;
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||||
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/* publish rc_channels topic even if signal is invalid, for debug */
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_rc_pub.publish(_rc);
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/* only publish manual control if the signal is still present and was present once */
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if (!signal_lost && rc_input.timestamp_last_signal > 0) {
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/* initialize manual setpoint */
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manual_control_setpoint_s manual{};
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/* set mode slot to unassigned */
|
||||
manual.mode_slot = manual_control_setpoint_s::MODE_SLOT_NONE;
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/* set the timestamp to the last signal time */
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manual.timestamp = rc_input.timestamp_last_signal;
|
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manual.data_source = manual_control_setpoint_s::SOURCE_RC;
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/* limit controls */
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manual.y = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
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manual.x = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
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manual.r = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
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manual.z = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
|
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manual.flaps = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
|
||||
manual.aux1 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
|
||||
manual.aux2 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
|
||||
manual.aux3 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
|
||||
manual.aux4 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
|
||||
manual.aux5 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
|
||||
manual.aux6 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6, -1.0, 1.0);
|
||||
|
||||
/* filter controls */
|
||||
manual.y = math::constrain(_filter_roll.apply(manual.y), -1.f, 1.f);
|
||||
manual.x = math::constrain(_filter_pitch.apply(manual.x), -1.f, 1.f);
|
||||
manual.r = math::constrain(_filter_yaw.apply(manual.r), -1.f, 1.f);
|
||||
manual.z = math::constrain(_filter_throttle.apply(manual.z), 0.f, 1.f);
|
||||
|
||||
if (_parameters.rc_map_flightmode > 0) {
|
||||
/* number of valid slots */
|
||||
const int num_slots = manual_control_setpoint_s::MODE_SLOT_NUM;
|
||||
|
||||
/* the half width of the range of a slot is the total range
|
||||
* divided by the number of slots, again divided by two
|
||||
*/
|
||||
const float slot_width_half = 2.0f / num_slots / 2.0f;
|
||||
|
||||
/* min is -1, max is +1, range is 2. We offset below min and max */
|
||||
const float slot_min = -1.0f - 0.05f;
|
||||
const float slot_max = 1.0f + 0.05f;
|
||||
|
||||
/* the slot gets mapped by first normalizing into a 0..1 interval using min
|
||||
* and max. Then the right slot is obtained by multiplying with the number of
|
||||
* slots. And finally we add half a slot width to ensure that integer rounding
|
||||
* will take us to the correct final index.
|
||||
*/
|
||||
manual.mode_slot = (((((_rc.channels[_parameters.rc_map_flightmode - 1] - slot_min) * num_slots) + slot_width_half) /
|
||||
(slot_max - slot_min)) + (1.0f / num_slots)) + 1;
|
||||
|
||||
if (manual.mode_slot > num_slots) {
|
||||
manual.mode_slot = num_slots;
|
||||
}
|
||||
}
|
||||
|
||||
/* mode switches */
|
||||
manual.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th,
|
||||
_parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
|
||||
manual.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE,
|
||||
_parameters.rc_rattitude_th,
|
||||
_parameters.rc_rattitude_inv);
|
||||
manual.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th,
|
||||
_parameters.rc_posctl_inv);
|
||||
manual.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th,
|
||||
_parameters.rc_return_inv);
|
||||
manual.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th,
|
||||
_parameters.rc_loiter_inv);
|
||||
manual.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th,
|
||||
_parameters.rc_acro_inv);
|
||||
manual.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD,
|
||||
_parameters.rc_offboard_th, _parameters.rc_offboard_inv);
|
||||
manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH,
|
||||
_parameters.rc_killswitch_th, _parameters.rc_killswitch_inv);
|
||||
manual.arm_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH,
|
||||
_parameters.rc_armswitch_th, _parameters.rc_armswitch_inv);
|
||||
manual.transition_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION,
|
||||
_parameters.rc_trans_th, _parameters.rc_trans_inv);
|
||||
manual.gear_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_GEAR,
|
||||
_parameters.rc_gear_th, _parameters.rc_gear_inv);
|
||||
manual.stab_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_STAB,
|
||||
_parameters.rc_stab_th, _parameters.rc_stab_inv);
|
||||
manual.man_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MAN,
|
||||
_parameters.rc_man_th, _parameters.rc_man_inv);
|
||||
|
||||
/* publish manual_control_setpoint topic */
|
||||
_manual_control_pub.publish(manual);
|
||||
|
||||
/* copy from mapped manual control to control group 3 */
|
||||
actuator_controls_s actuator_group_3{};
|
||||
|
||||
actuator_group_3.timestamp = rc_input.timestamp_last_signal;
|
||||
|
||||
actuator_group_3.control[0] = manual.y;
|
||||
actuator_group_3.control[1] = manual.x;
|
||||
actuator_group_3.control[2] = manual.r;
|
||||
actuator_group_3.control[3] = manual.z;
|
||||
actuator_group_3.control[4] = manual.flaps;
|
||||
actuator_group_3.control[5] = manual.aux1;
|
||||
actuator_group_3.control[6] = manual.aux2;
|
||||
actuator_group_3.control[7] = manual.aux3;
|
||||
|
||||
/* publish actuator_controls_3 topic */
|
||||
_actuator_group_3_pub.publish(actuator_group_3);
|
||||
|
||||
/* Update parameters from RC Channels (tuning with RC) if activated */
|
||||
if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1e6) {
|
||||
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);
|
||||
}
|
||||
Reference in New Issue
Block a user