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Override is now really disabled for multirotors, also I don't think the parameter got ever read by the commander but I might be wrong

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This commit is contained in:
Julian Oes
2012-12-23 17:20:53 -08:00
parent 8053b4b9f7
commit d4edf2e85c
2 changed files with 36 additions and 22 deletions
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apps/commander/commander.c
+4 -3
View File
@@ -1293,6 +1293,8 @@ int commander_thread_main(int argc, char *argv[])
uint64_t failsave_ll_start_time = 0;
bool state_changed = true;
bool param_init_forced = true;
while (!thread_should_exit) {
@@ -1323,10 +1325,10 @@ int commander_thread_main(int argc, char *argv[])
/* handle it */
handle_command(stat_pub, &current_status, &cmd);
}
/* update parameters */
orb_check(param_changed_sub, &new_data);
if (new_data) {
if (new_data || param_init_forced) {
param_init_forced = false;
/* parameters changed */
orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
@@ -1335,7 +1337,6 @@ int commander_thread_main(int argc, char *argv[])
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
warnx("failed setting new system type");
}
/* disable manual override for all systems that rely on electronic stabilization */
if (current_status.system_type == MAV_TYPE_QUADROTOR ||
current_status.system_type == MAV_TYPE_HEXAROTOR ||
apps/px4io/mixer.c
+32 -19
View File
@@ -84,32 +84,45 @@ mixer_tick(void)
int i;
bool should_arm;
/* check that we are receiving fresh data from the FMU */
if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
/* too many frames without FMU input, time to go to failsafe */
system_state.mixer_manual_override = true;
system_state.mixer_fmu_available = false;
lib_lowprintf("\nRX timeout\n");
}
/*
* Decide which set of inputs we're using.
*/
if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
/* we have recent control data from the FMU */
control_count = PX4IO_OUTPUT_CHANNELS;
control_values = &system_state.fmu_channel_data[0];
/* this is for planes, where manual override makes sense */
if(system_state.manual_override_ok) {
/* if everything is ok */
if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
/* we have recent control data from the FMU */
control_count = PX4IO_OUTPUT_CHANNELS;
control_values = &system_state.fmu_channel_data[0];
/* when override is on or the fmu is not available */
} else if (system_state.rc_channels > 0) {
control_count = system_state.rc_channels;
control_values = &system_state.rc_channel_data[0];
} else {
/* we have no control input (no FMU, no RC) */
/* check that we are receiving fresh data from the FMU */
if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
/* too many frames without FMU input, time to go to failsafe */
system_state.mixer_manual_override = true;
system_state.mixer_fmu_available = false;
lib_lowprintf("\nRX timeout\n");
// XXX builtin failsafe would activate here
control_count = 0;
}
} else if (system_state.rc_channels > 0 && system_state.manual_override_ok) {
/* we have control data from an R/C input */
control_count = system_state.rc_channels;
control_values = &system_state.rc_channel_data[0];
/* this is for multicopters, etc. where manual override does not make sense */
} else {
/* we have no control input (no FMU, no RC) */
// XXX builtin failsafe would activate here
control_count = 0;
/* if the fmu is available whe are good */
if(system_state.mixer_fmu_available) {
control_count = PX4IO_OUTPUT_CHANNELS;
control_values = &system_state.fmu_channel_data[0];
/* we better shut everything off */
} else {
control_count = 0;
}
}
/*