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Merge branch 'rc_timeout' of https://github.com/TickTock-/Firmware into rc_merged

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TickTock-
2014-04-22 17:43:36 -07:00
parent 86a0862af6 0b97dd2b77
commit d6e6ee3440
16 changed files with 340 additions and 468 deletions
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src/modules/sensors/sensor_params.c
-21
View File
@@ -676,27 +676,6 @@ PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */
PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
/**
* Roll scaling factor
*
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f);
/**
* Pitch scaling factor
*
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
/**
* Yaw scaling factor
*
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f);
/**
* Failsafe channel PWM threshold.
*
src/modules/sensors/sensors.cpp
+127 -175
View File
@@ -135,7 +135,7 @@
*/
#define PCB_TEMP_ESTIMATE_DEG 5.0f
#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg)
#define STICK_ON_OFF_LIMIT 0.75f
/**
* Sensor app start / stop handling function
@@ -167,7 +167,15 @@ public:
private:
static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
hrt_abstime _rc_last_valid; /**< last time we got a valid RC signal */
/**
* Get and limit value for specified RC function. Returns NAN if not mapped.
*/
float get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value);
/**
* Get switch position for specified function.
*/
switch_pos_t get_rc_switch_position(enum RC_CHANNELS_FUNCTION func);
/**
* Gather and publish RC input data.
@@ -242,7 +250,6 @@ private:
int rc_map_pitch;
int rc_map_yaw;
int rc_map_throttle;
int rc_map_failsafe;
int rc_map_mode_sw;
int rc_map_return_sw;
@@ -259,11 +266,6 @@ private:
int rc_map_aux4;
int rc_map_aux5;
float rc_scale_roll;
float rc_scale_pitch;
float rc_scale_yaw;
float rc_scale_flaps;
int32_t rc_fs_thr;
float battery_voltage_scaling;
@@ -291,7 +293,6 @@ private:
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;
@@ -308,11 +309,6 @@ private:
param_t rc_map_aux4;
param_t rc_map_aux5;
param_t rc_scale_roll;
param_t rc_scale_pitch;
param_t rc_scale_yaw;
param_t rc_scale_flaps;
param_t rc_fs_thr;
param_t battery_voltage_scaling;
@@ -436,8 +432,6 @@ Sensors *g_sensors = nullptr;
}
Sensors::Sensors() :
_rc_last_valid(0),
_fd_adc(-1),
_last_adc(0),
@@ -472,6 +466,7 @@ Sensors::Sensors() :
_battery_discharged(0),
_battery_current_timestamp(0)
{
memset(&_rc, 0, sizeof(_rc));
/* basic r/c parameters */
for (unsigned i = 0; i < _rc_max_chan_count; i++) {
@@ -514,7 +509,6 @@ Sensors::Sensors() :
/* optional mode switches, not mapped per default */
_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
_parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW");
_parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE");
// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
@@ -524,11 +518,6 @@ Sensors::Sensors() :
_parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
_parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
_parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL");
_parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH");
_parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW");
_parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS");
/* RC failsafe */
_parameter_handles.rc_fs_thr = param_find("RC_FAILS_THR");
@@ -653,10 +642,6 @@ Sensors::parameters_update()
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) {
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
warnx(paramerr);
}
@@ -686,10 +671,6 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3));
param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll));
param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));
param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps));
param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr));
/* update RC function mappings */
@@ -711,6 +692,7 @@ Sensors::parameters_update()
_rc.function[AUX_2] = _parameters.rc_map_aux2 - 1;
_rc.function[AUX_3] = _parameters.rc_map_aux3 - 1;
_rc.function[AUX_4] = _parameters.rc_map_aux4 - 1;
_rc.function[AUX_5] = _parameters.rc_map_aux5 - 1;
/* gyro offsets */
param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0]));
@@ -1273,6 +1255,45 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
}
float
Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value)
{
if (_rc.function[func] >= 0) {
float value = _rc.chan[_rc.function[func]].scaled;
if (value < min_value) {
return min_value;
} else if (value > max_value) {
return max_value;
} else {
return value;
}
} else {
return 0.0f;
}
}
switch_pos_t
Sensors::get_rc_switch_position(enum RC_CHANNELS_FUNCTION func)
{
if (_rc.function[func] >= 0) {
float value = _rc.chan[_rc.function[func]].scaled;
if (value > STICK_ON_OFF_LIMIT) {
return SWITCH_POS_ON;
} else if (value < -STICK_ON_OFF_LIMIT) {
return SWITCH_POS_OFF;
} else {
return SWITCH_POS_MIDDLE;
}
} else {
return SWITCH_POS_NONE;
}
}
void
Sensors::rc_poll()
{
@@ -1281,45 +1302,32 @@ Sensors::rc_poll()
if (rc_updated) {
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
struct rc_input_values rc_input;
struct rc_input_values rc_input;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
if (rc_input.rc_lost)
return;
/* detect RC signal loss */
bool signal_lost;
struct manual_control_setpoint_s manual_control;
struct actuator_controls_s actuator_group_3;
/* 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;
/* initialize to default values */
manual_control.roll = NAN;
manual_control.pitch = NAN;
manual_control.yaw = NAN;
manual_control.throttle = NAN;
} else {
/* signal looks good */
signal_lost = false;
manual_control.mode_switch = NAN;
manual_control.return_switch = NAN;
manual_control.assisted_switch = NAN;
manual_control.mission_switch = NAN;
// manual_control.auto_offboard_input_switch = NAN;
manual_control.flaps = NAN;
manual_control.aux1 = NAN;
manual_control.aux2 = NAN;
manual_control.aux3 = NAN;
manual_control.aux4 = NAN;
manual_control.aux5 = NAN;
/* require at least four channels to consider the signal valid */
if (rc_input.channel_count < 4) {
return;
}
/* check for failsafe */
if ((rc_input.rc_failsafe) || ((_parameters.rc_fs_thr != 0) && (((rc_input.values[_rc.function[_parameters.rc_map_failsafe]] < _parameters.min[_rc.function[_parameters.rc_map_failsafe]]) && (rc_input.values[_rc.function[_parameters.rc_map_failsafe]] < _parameters.rc_fs_thr))
|| ((rc_input.values[_rc.function[_parameters.rc_map_failsafe]] > _parameters.max[_rc.function[_parameters.rc_map_failsafe]]) && (rc_input.values[_rc.function[_parameters.rc_map_failsafe]] > _parameters.rc_fs_thr))))) {
/* do not publish manual control setpoints when there are none */
return;
/* check throttle failsafe */
int8_t thr_ch = _rc.function[THROTTLE];
if (_parameters.rc_fs_thr > 0 && thr_ch >= 0) {
/* throttle failsafe configured */
if ((_parameters.rc_fs_thr < _parameters.min[thr_ch] && rc_input.values[thr_ch] < _parameters.rc_fs_thr) ||
(_parameters.rc_fs_thr > _parameters.max[thr_ch] && rc_input.values[thr_ch] > _parameters.rc_fs_thr)) {
/* throttle failsafe triggered, signal is lost by receiver */
signal_lost = true;
}
}
}
unsigned channel_limit = rc_input.channel_count;
@@ -1327,10 +1335,7 @@ Sensors::rc_poll()
if (channel_limit > _rc_max_chan_count)
channel_limit = _rc_max_chan_count;
/* we are accepting this message */
_rc_last_valid = rc_input.timestamp_last_signal;
/* Read out values from raw message */
/* read out and scale values from raw message even if signal is invalid */
for (unsigned int i = 0; i < channel_limit; i++) {
/*
@@ -1377,127 +1382,75 @@ Sensors::rc_poll()
}
_rc.chan_count = rc_input.channel_count;
_rc.rssi = rc_input.rssi;
_rc.signal_lost = signal_lost;
_rc.timestamp = rc_input.timestamp_last_signal;
manual_control.timestamp = rc_input.timestamp_last_signal;
/* roll input - rolling right is stick-wise and rotation-wise positive */
manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled);
/*
* pitch input - stick down is negative, but stick down is pitching up (pos) in NED,
* so reverse sign.
*/
manual_control.pitch = limit_minus_one_to_one(-1.0f * _rc.chan[_rc.function[PITCH]].scaled);
/* yaw input - stick right is positive and positive rotation */
manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled);
/* throttle input */
manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
/* scale output */
if (isfinite(_parameters.rc_scale_roll) && _parameters.rc_scale_roll > 0.0f) {
manual_control.roll *= _parameters.rc_scale_roll;
}
if (isfinite(_parameters.rc_scale_pitch) && _parameters.rc_scale_pitch > 0.0f) {
manual_control.pitch *= _parameters.rc_scale_pitch;
}
if (isfinite(_parameters.rc_scale_yaw) && _parameters.rc_scale_yaw > 0.0f) {
manual_control.yaw *= _parameters.rc_scale_yaw;
}
/* flaps */
if (_rc.function[FLAPS] >= 0) {
manual_control.flaps = limit_minus_one_to_one(_rc.chan[_rc.function[FLAPS]].scaled);
if (isfinite(_parameters.rc_scale_flaps) && _parameters.rc_scale_flaps > 0.0f) {
manual_control.flaps *= _parameters.rc_scale_flaps;
}
}
/* mode switch input */
if (_rc.function[MODE] >= 0) {
manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
}
/* assisted switch input */
if (_rc.function[ASSISTED] >= 0) {
manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
}
/* mission switch input */
if (_rc.function[MISSION] >= 0) {
manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
}
/* return switch input */
if (_rc.function[RETURN] >= 0) {
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
}
// if (_rc.function[OFFBOARD_MODE] >= 0) {
// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
// }
/* aux functions, only assign if valid mapping is present */
if (_rc.function[AUX_1] >= 0) {
manual_control.aux1 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_1]].scaled);
}
if (_rc.function[AUX_2] >= 0) {
manual_control.aux2 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_2]].scaled);
}
if (_rc.function[AUX_3] >= 0) {
manual_control.aux3 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_3]].scaled);
}
if (_rc.function[AUX_4] >= 0) {
manual_control.aux4 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_4]].scaled);
}
/* copy from mapped manual control to control group 3 */
actuator_group_3.control[0] = manual_control.roll;
actuator_group_3.control[1] = manual_control.pitch;
actuator_group_3.control[2] = manual_control.yaw;
actuator_group_3.control[3] = manual_control.throttle;
actuator_group_3.control[4] = manual_control.flaps;
actuator_group_3.control[5] = manual_control.aux1;
actuator_group_3.control[6] = manual_control.aux2;
actuator_group_3.control[7] = manual_control.aux3;
/* check if ready for publishing */
/* publish rc_channels topic even if signal is invalid, for debug */
if (_rc_pub > 0) {
orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
} else {
/* advertise the rc topic */
_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
}
/* check if ready for publishing */
if (_manual_control_pub > 0) {
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
if (!signal_lost) {
struct manual_control_setpoint_s manual;
memset(&manual, 0 , sizeof(manual));
} else {
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
}
/* fill values in manual_control_setpoint topic only if signal is valid */
manual.timestamp = rc_input.timestamp_last_signal;
/* check if ready for publishing */
if (_actuator_group_3_pub > 0) {
orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
/* limit controls */
manual.roll = get_rc_value(ROLL, -1.0, 1.0);
manual.pitch = get_rc_value(PITCH, -1.0, 1.0);
manual.yaw = get_rc_value(YAW, -1.0, 1.0);
manual.throttle = get_rc_value(THROTTLE, 0.0, 1.0);
manual.flaps = get_rc_value(FLAPS, -1.0, 1.0);
manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0);
manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0);
manual.aux3 = get_rc_value(AUX_3, -1.0, 1.0);
manual.aux4 = get_rc_value(AUX_4, -1.0, 1.0);
manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
} else {
_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
/* mode switches */
manual.mode_switch = get_rc_switch_position(MODE);
manual.assisted_switch = get_rc_switch_position(ASSISTED);
manual.mission_switch = get_rc_switch_position(MISSION);
manual.return_switch = get_rc_switch_position(RETURN);
/* publish manual_control_setpoint topic */
if (_manual_control_pub > 0) {
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual);
} else {
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
}
/* copy from mapped manual control to control group 3 */
struct actuator_controls_s actuator_group_3;
memset(&actuator_group_3, 0 , sizeof(actuator_group_3));
actuator_group_3.timestamp = rc_input.timestamp_last_signal;
actuator_group_3.control[0] = manual.roll;
actuator_group_3.control[1] = manual.pitch;
actuator_group_3.control[2] = manual.yaw;
actuator_group_3.control[3] = manual.throttle;
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 */
if (_actuator_group_3_pub > 0) {
orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
} else {
_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
}
}
}
}
void
@@ -1690,4 +1643,3 @@ int sensors_main(int argc, char *argv[])
warnx("unrecognized command");
return 1;
}