mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 10:13:34 +08:00
sensors split rc_update into new standalone module
This commit is contained in:
Daniel Agar
@@ -40,7 +40,6 @@ px4_add_module(
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PRIORITY "SCHED_PRIORITY_MAX-5"
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SRCS
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voted_sensors_update.cpp
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rc_update.cpp
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sensors.cpp
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parameters.cpp
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temperature_compensation.cpp
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@@ -44,96 +44,6 @@ namespace sensors
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void initialize_parameter_handles(ParameterHandles ¶meter_handles)
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{
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/* basic r/c parameters */
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for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) {
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char nbuf[16];
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/* min values */
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sprintf(nbuf, "RC%d_MIN", i + 1);
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parameter_handles.min[i] = param_find(nbuf);
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/* trim values */
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sprintf(nbuf, "RC%d_TRIM", i + 1);
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parameter_handles.trim[i] = param_find(nbuf);
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/* max values */
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sprintf(nbuf, "RC%d_MAX", i + 1);
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parameter_handles.max[i] = param_find(nbuf);
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/* channel reverse */
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sprintf(nbuf, "RC%d_REV", i + 1);
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parameter_handles.rev[i] = param_find(nbuf);
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/* channel deadzone */
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sprintf(nbuf, "RC%d_DZ", i + 1);
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parameter_handles.dz[i] = param_find(nbuf);
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}
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/* mandatory input switched, mapped to channels 1-4 per default */
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parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL");
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parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
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parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW");
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parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
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parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE");
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/* mandatory mode switches, mapped to channel 5 and 6 per default */
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parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
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parameter_handles.rc_map_return_sw = param_find("RC_MAP_RETURN_SW");
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parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
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/* optional mode switches, not mapped per default */
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parameter_handles.rc_map_rattitude_sw = param_find("RC_MAP_RATT_SW");
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parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW");
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parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
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parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW");
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parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW");
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parameter_handles.rc_map_kill_sw = param_find("RC_MAP_KILL_SW");
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parameter_handles.rc_map_arm_sw = param_find("RC_MAP_ARM_SW");
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parameter_handles.rc_map_trans_sw = param_find("RC_MAP_TRANS_SW");
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parameter_handles.rc_map_gear_sw = param_find("RC_MAP_GEAR_SW");
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parameter_handles.rc_map_stab_sw = param_find("RC_MAP_STAB_SW");
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parameter_handles.rc_map_man_sw = param_find("RC_MAP_MAN_SW");
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parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
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parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
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parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3");
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parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
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parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
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parameter_handles.rc_map_aux6 = param_find("RC_MAP_AUX6");
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/* RC to parameter mapping for changing parameters with RC */
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for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
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char name[rc_parameter_map_s::PARAM_ID_LEN];
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snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d",
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i + 1); // shifted by 1 because param name starts at 1
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parameter_handles.rc_map_param[i] = param_find(name);
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}
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parameter_handles.rc_map_flightmode = param_find("RC_MAP_FLTMODE");
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/* RC thresholds */
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parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
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parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
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parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
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parameter_handles.rc_rattitude_th = param_find("RC_RATT_TH");
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parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH");
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parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
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parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
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parameter_handles.rc_acro_th = param_find("RC_ACRO_TH");
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parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
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parameter_handles.rc_killswitch_th = param_find("RC_KILLSWITCH_TH");
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parameter_handles.rc_armswitch_th = param_find("RC_ARMSWITCH_TH");
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parameter_handles.rc_trans_th = param_find("RC_TRANS_TH");
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parameter_handles.rc_gear_th = param_find("RC_GEAR_TH");
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parameter_handles.rc_stab_th = param_find("RC_STAB_TH");
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parameter_handles.rc_man_th = param_find("RC_MAN_TH");
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/* RC low pass filter configuration */
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parameter_handles.rc_flt_smp_rate = param_find("RC_FLT_SMP_RATE");
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parameter_handles.rc_flt_cutoff = param_find("RC_FLT_CUTOFF");
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/* Differential pressure offset */
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parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
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#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
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@@ -155,10 +65,6 @@ void initialize_parameter_handles(ParameterHandles ¶meter_handles)
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parameter_handles.air_tube_length = param_find("CAL_AIR_TUBELEN");
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parameter_handles.air_tube_diameter_mm = param_find("CAL_AIR_TUBED_MM");
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// These are parameters for which QGroundControl always expects to be returned in a list request.
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// We do a param_find here to force them into the list.
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(void)param_find("RC_CHAN_CNT");
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(void)param_find("BAT_V_DIV");
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(void)param_find("BAT_A_PER_V");
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@@ -187,186 +93,8 @@ void initialize_parameter_handles(ParameterHandles ¶meter_handles)
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(void)param_find("SYS_CAL_TMIN");
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}
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int update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters)
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void update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters)
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{
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bool rc_valid = true;
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float tmpScaleFactor = 0.0f;
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float tmpRevFactor = 0.0f;
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int ret = PX4_OK;
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/* rc values */
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for (unsigned int i = 0; i < RC_MAX_CHAN_COUNT; i++) {
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param_get(parameter_handles.min[i], &(parameters.min[i]));
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param_get(parameter_handles.trim[i], &(parameters.trim[i]));
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param_get(parameter_handles.max[i], &(parameters.max[i]));
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param_get(parameter_handles.rev[i], &(parameters.rev[i]));
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param_get(parameter_handles.dz[i], &(parameters.dz[i]));
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tmpScaleFactor = (1.0f / ((parameters.max[i] - parameters.min[i]) / 2.0f) * parameters.rev[i]);
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tmpRevFactor = tmpScaleFactor * parameters.rev[i];
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/* handle blowup in the scaling factor calculation */
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if (!PX4_ISFINITE(tmpScaleFactor) ||
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(tmpRevFactor < 0.000001f) ||
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(tmpRevFactor > 0.2f)) {
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PX4_WARN("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(parameters.rev[i]));
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/* scaling factors do not make sense, lock them down */
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parameters.scaling_factor[i] = 0.0f;
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rc_valid = false;
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} else {
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parameters.scaling_factor[i] = tmpScaleFactor;
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}
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}
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/* handle wrong values */
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if (!rc_valid) {
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PX4_ERR("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
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}
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const char *paramerr = "FAIL PARM LOAD";
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/* channel mapping */
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if (param_get(parameter_handles.rc_map_roll, &(parameters.rc_map_roll)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_pitch, &(parameters.rc_map_pitch)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_yaw, &(parameters.rc_map_yaw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_throttle, &(parameters.rc_map_throttle)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_failsafe, &(parameters.rc_map_failsafe)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_mode_sw, &(parameters.rc_map_mode_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_return_sw, &(parameters.rc_map_return_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_rattitude_sw, &(parameters.rc_map_rattitude_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_posctl_sw, &(parameters.rc_map_posctl_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_loiter_sw, &(parameters.rc_map_loiter_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_acro_sw, &(parameters.rc_map_acro_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_offboard_sw, &(parameters.rc_map_offboard_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_kill_sw, &(parameters.rc_map_kill_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_arm_sw, &(parameters.rc_map_arm_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_trans_sw, &(parameters.rc_map_trans_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_flaps, &(parameters.rc_map_flaps)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_gear_sw, &(parameters.rc_map_gear_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_stab_sw, &(parameters.rc_map_stab_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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if (param_get(parameter_handles.rc_map_man_sw, &(parameters.rc_map_man_sw)) != OK) {
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PX4_WARN("%s", paramerr);
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}
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param_get(parameter_handles.rc_map_aux1, &(parameters.rc_map_aux1));
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param_get(parameter_handles.rc_map_aux2, &(parameters.rc_map_aux2));
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param_get(parameter_handles.rc_map_aux3, &(parameters.rc_map_aux3));
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param_get(parameter_handles.rc_map_aux4, &(parameters.rc_map_aux4));
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param_get(parameter_handles.rc_map_aux5, &(parameters.rc_map_aux5));
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param_get(parameter_handles.rc_map_aux6, &(parameters.rc_map_aux6));
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for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
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param_get(parameter_handles.rc_map_param[i], &(parameters.rc_map_param[i]));
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}
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param_get(parameter_handles.rc_map_flightmode, &(parameters.rc_map_flightmode));
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param_get(parameter_handles.rc_fails_thr, &(parameters.rc_fails_thr));
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param_get(parameter_handles.rc_assist_th, &(parameters.rc_assist_th));
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parameters.rc_assist_inv = (parameters.rc_assist_th < 0);
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parameters.rc_assist_th = fabsf(parameters.rc_assist_th);
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param_get(parameter_handles.rc_auto_th, &(parameters.rc_auto_th));
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parameters.rc_auto_inv = (parameters.rc_auto_th < 0);
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parameters.rc_auto_th = fabsf(parameters.rc_auto_th);
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param_get(parameter_handles.rc_rattitude_th, &(parameters.rc_rattitude_th));
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parameters.rc_rattitude_inv = (parameters.rc_rattitude_th < 0);
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parameters.rc_rattitude_th = fabsf(parameters.rc_rattitude_th);
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param_get(parameter_handles.rc_posctl_th, &(parameters.rc_posctl_th));
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parameters.rc_posctl_inv = (parameters.rc_posctl_th < 0);
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parameters.rc_posctl_th = fabsf(parameters.rc_posctl_th);
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param_get(parameter_handles.rc_return_th, &(parameters.rc_return_th));
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parameters.rc_return_inv = (parameters.rc_return_th < 0);
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parameters.rc_return_th = fabsf(parameters.rc_return_th);
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param_get(parameter_handles.rc_loiter_th, &(parameters.rc_loiter_th));
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parameters.rc_loiter_inv = (parameters.rc_loiter_th < 0);
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parameters.rc_loiter_th = fabsf(parameters.rc_loiter_th);
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param_get(parameter_handles.rc_acro_th, &(parameters.rc_acro_th));
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parameters.rc_acro_inv = (parameters.rc_acro_th < 0);
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parameters.rc_acro_th = fabsf(parameters.rc_acro_th);
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param_get(parameter_handles.rc_offboard_th, &(parameters.rc_offboard_th));
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parameters.rc_offboard_inv = (parameters.rc_offboard_th < 0);
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parameters.rc_offboard_th = fabsf(parameters.rc_offboard_th);
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param_get(parameter_handles.rc_killswitch_th, &(parameters.rc_killswitch_th));
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parameters.rc_killswitch_inv = (parameters.rc_killswitch_th < 0);
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parameters.rc_killswitch_th = fabsf(parameters.rc_killswitch_th);
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param_get(parameter_handles.rc_armswitch_th, &(parameters.rc_armswitch_th));
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parameters.rc_armswitch_inv = (parameters.rc_armswitch_th < 0);
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parameters.rc_armswitch_th = fabsf(parameters.rc_armswitch_th);
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param_get(parameter_handles.rc_trans_th, &(parameters.rc_trans_th));
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parameters.rc_trans_inv = (parameters.rc_trans_th < 0);
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parameters.rc_trans_th = fabsf(parameters.rc_trans_th);
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param_get(parameter_handles.rc_gear_th, &(parameters.rc_gear_th));
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parameters.rc_gear_inv = (parameters.rc_gear_th < 0);
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parameters.rc_gear_th = fabsf(parameters.rc_gear_th);
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param_get(parameter_handles.rc_stab_th, &(parameters.rc_stab_th));
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parameters.rc_stab_inv = (parameters.rc_stab_th < 0);
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parameters.rc_stab_th = fabsf(parameters.rc_stab_th);
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param_get(parameter_handles.rc_man_th, &(parameters.rc_man_th));
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parameters.rc_man_inv = (parameters.rc_man_th < 0);
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parameters.rc_man_th = fabsf(parameters.rc_man_th);
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param_get(parameter_handles.rc_flt_smp_rate, &(parameters.rc_flt_smp_rate));
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parameters.rc_flt_smp_rate = math::max(1.0f, parameters.rc_flt_smp_rate);
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param_get(parameter_handles.rc_flt_cutoff, &(parameters.rc_flt_cutoff));
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/* make sure the filter is in its stable region -> fc < fs/2 */
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parameters.rc_flt_cutoff = math::min(parameters.rc_flt_cutoff, (parameters.rc_flt_smp_rate / 2) - 1.f);
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/* Airspeed offset */
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param_get(parameter_handles.diff_pres_offset_pa, &(parameters.diff_pres_offset_pa));
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#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
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@@ -384,8 +112,6 @@ int update_parameters(const ParameterHandles ¶meter_handles, Parameters &par
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param_get(parameter_handles.air_cmodel, ¶meters.air_cmodel);
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param_get(parameter_handles.air_tube_length, ¶meters.air_tube_length);
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param_get(parameter_handles.air_tube_diameter_mm, ¶meters.air_tube_diameter_mm);
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return ret;
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}
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} /* namespace sensors */
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@@ -40,29 +40,13 @@
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*
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* @author Beat Kueng <beat-kueng@gmx.net>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <drivers/drv_rc_input.h>
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#include <parameters/param.h>
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#include <mathlib/mathlib.h>
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#include <uORB/topics/rc_parameter_map.h>
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#include <uORB/topics/input_rc.h>
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#include <lib/parameters/param.h>
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namespace sensors
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{
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static const unsigned RC_MAX_CHAN_COUNT =
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input_rc_s::RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
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struct Parameters {
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float min[RC_MAX_CHAN_COUNT];
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float trim[RC_MAX_CHAN_COUNT];
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float max[RC_MAX_CHAN_COUNT];
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float rev[RC_MAX_CHAN_COUNT];
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float dz[RC_MAX_CHAN_COUNT];
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float scaling_factor[RC_MAX_CHAN_COUNT];
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float diff_pres_offset_pa;
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#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
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float diff_pres_analog_scale;
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@@ -72,72 +56,6 @@ struct Parameters {
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float board_offset[3];
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int32_t rc_map_roll;
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int32_t rc_map_pitch;
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int32_t rc_map_yaw;
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int32_t rc_map_throttle;
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int32_t rc_map_failsafe;
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||||
|
||||
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 */
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,430 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 rc_update.cpp
|
||||
*
|
||||
* @author Beat Kueng <beat-kueng@gmx.net>
|
||||
*/
|
||||
|
||||
#include "rc_update.h"
|
||||
|
||||
using namespace sensors;
|
||||
|
||||
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)
|
||||
{
|
||||
}
|
||||
|
||||
void RCUpdate::update_rc_functions()
|
||||
{
|
||||
/* update RC function mappings */
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
|
||||
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE] = _parameters.rc_map_rattitude_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _parameters.rc_map_kill_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH] = _parameters.rc_map_arm_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _parameters.rc_map_trans_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_GEAR] = _parameters.rc_map_gear_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_STAB] = _parameters.rc_map_stab_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MAN] = _parameters.rc_map_man_sw - 1;
|
||||
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
|
||||
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6] = _parameters.rc_map_aux6 - 1;
|
||||
|
||||
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
|
||||
}
|
||||
|
||||
/* update the RC low pass filter frequencies */
|
||||
_filter_roll.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
|
||||
_filter_pitch.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
|
||||
_filter_yaw.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
|
||||
_filter_throttle.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
|
||||
_filter_roll.reset(0.f);
|
||||
_filter_pitch.reset(0.f);
|
||||
_filter_yaw.reset(0.f);
|
||||
_filter_throttle.reset(0.f);
|
||||
}
|
||||
|
||||
void
|
||||
RCUpdate::rc_parameter_map_poll(ParameterHandles ¶meter_handles, bool forced)
|
||||
{
|
||||
if (_rc_parameter_map_sub.updated()) {
|
||||
_rc_parameter_map_sub.copy(&_rc_parameter_map);
|
||||
|
||||
/* update parameter handles to which the RC channels are mapped */
|
||||
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]) {
|
||||
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
|
||||
* or no request to map this channel to a param has been sent via mavlink
|
||||
*/
|
||||
continue;
|
||||
}
|
||||
|
||||
/* 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]);
|
||||
|
||||
} else {
|
||||
parameter_handles.rc_param[i] = param_find(&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)]);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
PX4_DEBUG("rc to parameter map updated");
|
||||
|
||||
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
|
||||
PX4_DEBUG("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f",
|
||||
i,
|
||||
&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)],
|
||||
(double)_rc_parameter_map.scale[i],
|
||||
(double)_rc_parameter_map.value0[i],
|
||||
(double)_rc_parameter_map.value_min[i],
|
||||
(double)_rc_parameter_map.value_max[i]
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float
|
||||
RCUpdate::get_rc_value(uint8_t func, float min_value, float max_value)
|
||||
{
|
||||
if (_rc.function[func] >= 0) {
|
||||
float value = _rc.channels[_rc.function[func]];
|
||||
return math::constrain(value, min_value, max_value);
|
||||
|
||||
} else {
|
||||
return 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
switch_pos_t
|
||||
RCUpdate::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv)
|
||||
{
|
||||
if (_rc.function[func] >= 0) {
|
||||
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
|
||||
|
||||
if (on_inv ? value < on_th : value > on_th) {
|
||||
return manual_control_setpoint_s::SWITCH_POS_ON;
|
||||
|
||||
} else if (mid_inv ? value < mid_th : value > mid_th) {
|
||||
return manual_control_setpoint_s::SWITCH_POS_MIDDLE;
|
||||
|
||||
} else {
|
||||
return manual_control_setpoint_s::SWITCH_POS_OFF;
|
||||
}
|
||||
|
||||
} else {
|
||||
return manual_control_setpoint_s::SWITCH_POS_NONE;
|
||||
}
|
||||
}
|
||||
|
||||
switch_pos_t
|
||||
RCUpdate::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
|
||||
{
|
||||
if (_rc.function[func] >= 0) {
|
||||
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
|
||||
|
||||
if (on_inv ? value < on_th : value > on_th) {
|
||||
return manual_control_setpoint_s::SWITCH_POS_ON;
|
||||
|
||||
} else {
|
||||
return manual_control_setpoint_s::SWITCH_POS_OFF;
|
||||
}
|
||||
|
||||
} else {
|
||||
return manual_control_setpoint_s::SWITCH_POS_NONE;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
RCUpdate::set_params_from_rc(const ParameterHandles ¶meter_handles)
|
||||
{
|
||||
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]) {
|
||||
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
|
||||
* or no request to map this channel to a param has been sent via mavlink
|
||||
*/
|
||||
continue;
|
||||
}
|
||||
|
||||
float rc_val = get_rc_value((rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0);
|
||||
|
||||
/* Check if the value has changed,
|
||||
* maybe we need to introduce a more aggressive limit here */
|
||||
if (rc_val > _param_rc_values[i] + FLT_EPSILON || rc_val < _param_rc_values[i] - FLT_EPSILON) {
|
||||
_param_rc_values[i] = rc_val;
|
||||
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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
RCUpdate::rc_poll(const ParameterHandles ¶meter_handles)
|
||||
{
|
||||
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);
|
||||
|
||||
/* detect RC signal loss */
|
||||
bool signal_lost;
|
||||
|
||||
/* 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) {
|
||||
/* signal is lost or no enough channels */
|
||||
signal_lost = true;
|
||||
|
||||
} else {
|
||||
/* signal looks good */
|
||||
signal_lost = false;
|
||||
|
||||
/* check failsafe */
|
||||
int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle
|
||||
|
||||
if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping
|
||||
fs_ch = _parameters.rc_map_failsafe - 1;
|
||||
}
|
||||
|
||||
if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) {
|
||||
/* failsafe configured */
|
||||
if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) ||
|
||||
(_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) {
|
||||
/* failsafe triggered, signal is lost by receiver */
|
||||
signal_lost = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
unsigned channel_limit = rc_input.channel_count;
|
||||
|
||||
if (channel_limit > RC_MAX_CHAN_COUNT) {
|
||||
channel_limit = RC_MAX_CHAN_COUNT;
|
||||
}
|
||||
|
||||
/* read out and scale values from raw message even if signal is invalid */
|
||||
for (unsigned int i = 0; i < channel_limit; i++) {
|
||||
|
||||
/*
|
||||
* 1) Constrain to min/max values, as later processing depends on bounds.
|
||||
*/
|
||||
if (rc_input.values[i] < _parameters.min[i]) {
|
||||
rc_input.values[i] = _parameters.min[i];
|
||||
}
|
||||
|
||||
if (rc_input.values[i] > _parameters.max[i]) {
|
||||
rc_input.values[i] = _parameters.max[i];
|
||||
}
|
||||
|
||||
/*
|
||||
* 2) Scale around the mid point differently for lower and upper range.
|
||||
*
|
||||
* This is necessary as they don't share the same endpoints and slope.
|
||||
*
|
||||
* First normalize to 0..1 range with correct sign (below or above center),
|
||||
* the total range is 2 (-1..1).
|
||||
* If center (trim) == min, scale to 0..1, if center (trim) == max,
|
||||
* scale to -1..0.
|
||||
*
|
||||
* As the min and max bounds were enforced in step 1), division by zero
|
||||
* cannot occur, as for the case of center == min or center == max the if
|
||||
* statement is mutually exclusive with the arithmetic NaN case.
|
||||
*
|
||||
* DO NOT REMOVE OR ALTER STEP 1!
|
||||
*/
|
||||
if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
|
||||
_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(
|
||||
_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
|
||||
|
||||
} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
|
||||
_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(
|
||||
_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
|
||||
|
||||
} else {
|
||||
/* in the configured dead zone, output zero */
|
||||
_rc.channels[i] = 0.0f;
|
||||
}
|
||||
|
||||
_rc.channels[i] *= _parameters.rev[i];
|
||||
|
||||
/* handle any parameter-induced blowups */
|
||||
if (!PX4_ISFINITE(_rc.channels[i])) {
|
||||
_rc.channels[i] = 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
_rc.channel_count = rc_input.channel_count;
|
||||
_rc.rssi = rc_input.rssi;
|
||||
_rc.signal_lost = signal_lost;
|
||||
_rc.timestamp = rc_input.timestamp_last_signal;
|
||||
_rc.frame_drop_count = rc_input.rc_lost_frame_count;
|
||||
|
||||
/* publish rc_channels topic even if signal is invalid, for debug */
|
||||
_rc_pub.publish(_rc);
|
||||
|
||||
/* only publish manual control if the signal is still present and was present once */
|
||||
if (!signal_lost && rc_input.timestamp_last_signal > 0) {
|
||||
|
||||
/* initialize manual setpoint */
|
||||
manual_control_setpoint_s manual{};
|
||||
/* set mode slot to unassigned */
|
||||
manual.mode_slot = manual_control_setpoint_s::MODE_SLOT_NONE;
|
||||
/* set the timestamp to the last signal time */
|
||||
manual.timestamp = rc_input.timestamp_last_signal;
|
||||
manual.data_source = manual_control_setpoint_s::SOURCE_RC;
|
||||
|
||||
/* limit controls */
|
||||
manual.y = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
|
||||
manual.x = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
|
||||
manual.r = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
|
||||
manual.z = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
|
||||
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(parameter_handles);
|
||||
_last_rc_to_param_map_time = hrt_absolute_time();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,135 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 rc_update.h
|
||||
*
|
||||
* @author Beat Kueng <beat-kueng@gmx.net>
|
||||
*/
|
||||
|
||||
#include "parameters.h"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <mathlib/math/filter/LowPassFilter2p.hpp>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/Subscription.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>
|
||||
|
||||
namespace sensors
|
||||
{
|
||||
|
||||
/**
|
||||
** class RCUpdate
|
||||
*
|
||||
* Handling of RC updates
|
||||
*/
|
||||
class RCUpdate
|
||||
{
|
||||
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);
|
||||
|
||||
/**
|
||||
* Check for changes in rc_parameter_map
|
||||
*/
|
||||
void rc_parameter_map_poll(ParameterHandles ¶meter_handles, bool forced = false);
|
||||
|
||||
/**
|
||||
* update the RC functions. Call this when the parameters change.
|
||||
*/
|
||||
void update_rc_functions();
|
||||
|
||||
/**
|
||||
* Gather and publish RC input data.
|
||||
*/
|
||||
void rc_poll(const ParameterHandles ¶meter_handles);
|
||||
|
||||
private:
|
||||
|
||||
/**
|
||||
* Get and limit value for specified RC function. Returns NAN if not mapped.
|
||||
*/
|
||||
float get_rc_value(uint8_t func, float min_value, float max_value);
|
||||
|
||||
/**
|
||||
* Get switch position for specified function.
|
||||
*/
|
||||
switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
|
||||
switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
|
||||
|
||||
/**
|
||||
* Update parameters from RC channels if the functionality is activated and the
|
||||
* input has changed since the last update
|
||||
*
|
||||
* @param
|
||||
*/
|
||||
void set_params_from_rc(const ParameterHandles ¶meter_handles);
|
||||
|
||||
|
||||
uORB::Subscription _rc_sub{ORB_ID(input_rc)}; /**< raw rc channels data subscription */
|
||||
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 */
|
||||
uORB::Publication<actuator_controls_s> _actuator_group_3_pub{ORB_ID(actuator_controls_3)}; /**< manual control as actuator topic */
|
||||
|
||||
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_HIGH}; /**< manual control signal topic */
|
||||
|
||||
rc_channels_s _rc {}; /**< r/c channel data */
|
||||
|
||||
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 */
|
||||
math::LowPassFilter2p _filter_pitch; /** we want smooth setpoints as inputs to the controllers */
|
||||
math::LowPassFilter2p _filter_yaw;
|
||||
math::LowPassFilter2p _filter_throttle;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
} /* 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);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user