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Mantis: add RC hacks

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This changes the way RC is handled for the Mantis:
- The RC values are re-written when arriving over MAVLink. They are
  rescaled from 0..4095 to 1000..2000 and the channel bits added to
  separate channels. This makes the downstream handling easier.
- Gimbal pitch is moved from Aux1 to Aux2 as that should be the default.
- Aux3 and Aux4 are used for the photo and video trigger.
- The speed button is used as the FLTMODE channel and set to switch
  between POSCTL and ALTCTL.
This commit is contained in:
Julian Oes 2021-10-05 14:32:46 +02:00 committed by Daniel Agar
parent 9fe7a40673
commit e4763f15f6
4 changed files with 39 additions and 37 deletions
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46
ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
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@ -33,12 +33,13 @@ param set-default CBRK_SUPPLY_CHK 894281
param set-default COM_DISARM_LAND 0.1
param set-default COM_DISARM_PRFLT 3
param set-default COM_FLTMODE1 -1
param set-default COM_DL_LOSS_T 10
param set-default COM_FLTMODE1 2
param set-default COM_FLTMODE2 -1
param set-default COM_FLTMODE3 -1
param set-default COM_FLTMODE4 2
param set-default COM_FLTMODE4 -1
param set-default COM_FLTMODE5 -1
param set-default COM_FLTMODE6 6
param set-default COM_FLTMODE6 1
param set-default COM_RC_LOSS_T 3
@ -146,7 +147,7 @@ param set-default MPC_Z_VEL_P 0.27
# gimbal configuration
param set-default MNT_MODE_IN 1
param set-default MNT_MODE_OUT 1
param set-default MNT_MAN_PITCH 1
param set-default MNT_MAN_PITCH 2
param set-default MNT_RC_IN_MODE 1
param set-default MNT_RATE_PITCH 30
@ -157,39 +158,10 @@ param set-default RC_MAP_THROTTLE 1
param set-default RC_MAP_YAW 2
param set-default RC_MAP_PITCH 3
param set-default RC_MAP_ROLL 4
param set-default RC_MAP_AUX1 5
param set-default RC_MAP_FLTMODE 9
param set-default RC1_DZ 10
param set-default RC1_MAX 4095
param set-default RC1_MIN 0
param set-default RC1_REV 1
param set-default RC1_TRIM 0
param set-default RC2_DZ 10
param set-default RC2_MAX 4095
param set-default RC2_MIN 0
param set-default RC2_REV 1
param set-default RC2_TRIM 2047
param set-default RC3_DZ 10
param set-default RC3_MAX 4095
param set-default RC3_MIN 0
param set-default RC3_REV 1
param set-default RC3_TRIM 2047
param set-default RC4_DZ 10
param set-default RC4_MAX 4095
param set-default RC4_MIN 0
param set-default RC4_REV 1
param set-default RC4_TRIM 2047
param set-default RC5_DZ 10
param set-default RC5_MAX 4095
param set-default RC5_MIN 0
param set-default RC5_REV 1
param set-default RC5_TRIM 2047
param set-default RC7_DZ 10
param set-default RC7_MAX 4095
param set-default RC7_MIN 0
param set-default RC7_REV 1
param set-default RC7_TRIM 2048
param set-default RC_MAP_AUX2 5
param set-default RC_MAP_AUX3 10
param set-default RC_MAP_AUX4 8
param set-default RC_MAP_FLTMODE 6
# optical flow

3
boards/atl/mantis-edu/src/board_config.h
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@ -64,6 +64,9 @@
// Hacks for MAVLink RC button input
#define ATL_MANTIS_RC_INPUT_HACKS
// Hacks for MAVLink RC button input
#define ATL_MANTIS_RC_INPUT_HACKS
/*
* ADC channels
*

22
src/modules/mavlink/mavlink_receiver.cpp
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@ -1993,6 +1993,28 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
rc.values[16] = man.chan17_raw;
rc.values[17] = man.chan18_raw;
#if defined(ATL_MANTIS_RC_INPUT_HACKS)
// Sanity checking if the RC controller is really sending.
if (rc.values[5] == 2048 && rc.values[6] == 0 && (rc.values[8] & 0xff00) == 0x0C00) {
rc.values[0] = 1000 + (uint16_t)((float)rc.values[0] / 4095.f * 1000.f); // 0..4095 -> 1000..2000
rc.values[1] = 1000 + (uint16_t)((float)rc.values[1] / 4095.f * 1000.f); // 0..4095 -> 1000..2000
rc.values[2] = 1000 + (uint16_t)((float)rc.values[2] / 4095.f * 1000.f); // 0..4095 -> 1000..2000
rc.values[3] = 1000 + (uint16_t)((float)rc.values[3] / 4095.f * 1000.f); // 0..4095 -> 1000..2000
rc.values[4] = 1000 + (uint16_t)((float)rc.values[4] / 4095.f * 1000.f); // 0..4095 -> 1000..2000 -> Aux 2
rc.values[5] = 1000 + rc.values[7] * 500; // Switch toggles from 0 to 2, we map it from 1000 to 2000
rc.values[6] = 1000 + (((rc.values[8] & 0x02) != 0) ? 1000 : 0); // Return button.
rc.values[7] = 1000 + (((rc.values[8] & 0x01) != 0) ? 1000 : 0); // Video record button. -> Aux4
rc.values[9] = 1000 + (((rc.values[8] & 0x10) != 0) ? 1000 : 0); // Photo record button. -> Aux3
rc.values[8] = rc.values[8] & 0x00ff; // Remove magic identifier.
// leave rc.values[10] as is 0..4095
//
// Note we are currently ignoring the stick buttons (sticks pressed down).
// They are on rc.values[8] & 0x20 and rc.values[8] & 0x40.
}
#endif
// check how many channels are valid
for (int i = 17; i >= 0; i--) {
const bool ignore_max = rc.values[i] == UINT16_MAX; // ignore any channel with value UINT16_MAX

5
src/modules/rc_update/rc_update.cpp
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@ -638,6 +638,11 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
switches.transition_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_TRANSITION, _param_rc_trans_th.get());
switches.gear_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_GEAR, _param_rc_gear_th.get());
#if defined(ATL_MANTIS_RC_INPUT_HACKS)
switches.photo_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_AUX_3, 0.5f);
switches.video_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_AUX_4, 0.5f);
#endif
// last 2 switch updates identical (simple protection from bad RC data)
if (switches == _manual_switches_previous) {
const bool switches_changed = (switches != _manual_switches_last_publish);