diff --git a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil index 40b9ed8df5..1e3dc6c5f6 100644 --- a/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil +++ b/ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil @@ -6,5 +6,30 @@ sh /etc/init.d/rc.fw_defaults +if [ $AUTOCNF == yes ] +then + param set BAT_N_CELLS 3 + param set FW_AIRSPD_MAX 20 + param set FW_AIRSPD_MIN 12 + param set FW_AIRSPD_TRIM 14 + param set FW_ATT_TC 0.3 + param set FW_L1_DAMPING 0.74 + param set FW_L1_PERIOD 16 + param set FW_LND_ANG 15 + param set FW_LND_FLALT 5 + param set FW_LND_HHDIST 15 + param set FW_LND_HVIRT 13 + param set FW_LND_TLALT 5 + param set FW_THR_LND_MAX 0 + param set FW_PR_FF 0.35 + param set FW_PR_I 0.1 + param set FW_PR_IMAX 0.4 + param set FW_PR_P 0.2 + param set FW_RR_FF 0.6 + param set FW_RR_I 0.1 + param set FW_RR_IMAX 0.2 + param set FW_RR_P 0.3 +fi + set HIL yes set MIXER AERT diff --git a/ROMFS/px4fmu_common/init.d/3034_fx79 b/ROMFS/px4fmu_common/init.d/3034_fx79 index d46147ede5..9f45c636b0 100644 --- a/ROMFS/px4fmu_common/init.d/3034_fx79 +++ b/ROMFS/px4fmu_common/init.d/3034_fx79 @@ -7,4 +7,12 @@ sh /etc/init.d/rc.fw_defaults +if [ $AUTOCNF == yes ] +then + param set NAV_LOITER_RAD 150 + param set FW_AIRSPD_MAX 30 + param set FW_AIRSPD_MIN 13 + param set FW_AIRSPD_TRIM 15 +fi + set MIXER FX79 diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha index 9e1c1c170a..5a7d73c060 100644 --- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha +++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha @@ -9,26 +9,29 @@ sh /etc/init.d/rc.fw_defaults if [ $AUTOCNF == yes ] then - - # TODO: these are the X5 default parameters, update them to the caipi - - param set FW_AIRSPD_MIN 15 - param set FW_AIRSPD_TRIM 20 - param set FW_AIRSPD_MAX 40 + param set FW_AIRSPD_MAX 20 + param set FW_AIRSPD_MIN 12 + param set FW_AIRSPD_TRIM 16 param set FW_ATT_TC 0.3 param set FW_L1_DAMPING 0.74 - param set FW_L1_PERIOD 15 - param set FW_PR_FF 0.3 - param set FW_PR_I 0 - param set FW_PR_IMAX 0.2 - param set FW_PR_P 0.03 - param set FW_P_ROLLFF 0 - param set FW_RR_FF 0.3 - param set FW_RR_I 0 + param set FW_L1_PERIOD 16 + param set FW_LND_ANG 15 + param set FW_LND_FLALT 5 + param set FW_LND_HHDIST 15 + param set FW_LND_HVIRT 13 + param set FW_LND_TLALT 5 + param set FW_THR_LND_MAX 0 + param set FW_PR_FF 0.35 + param set FW_PR_I 0.01 + param set FW_PR_IMAX 0.4 + param set FW_PR_P 0.08 + param set FW_RR_FF 0.6 + param set FW_RR_I 0.01 param set FW_RR_IMAX 0.2 - param set FW_RR_P 0.03 - param set FW_R_LIM 60 - param set FW_R_RMAX 0 + param set FW_RR_P 0.04 fi -set MIXER Q +set MIXER caipi +# Provide ESC a constant 1000 us pulse +set PWM_OUT 4 +set PWM_DISARMED 1000 diff --git a/ROMFS/px4fmu_common/mixers/caipi.main.mix b/ROMFS/px4fmu_common/mixers/caipi.main.mix new file mode 100644 index 0000000000..cfc49ff9f4 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/caipi.main.mix @@ -0,0 +1,51 @@ +Delta-wing mixer +=========================== + +Designed for TBS Caipirinha + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 -3000 -10000 10000 +S: 0 0 -9000 -9000 0 -10000 10000 +S: 0 1 8000 8000 0 -10000 10000 + +M: 2 +O: 10000 10000 3000 -10000 10000 +S: 0 0 -9000 -9000 0 -10000 10000 +S: 0 1 -8000 -8000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/msg/navigation_capabilities.msg b/msg/navigation_capabilities.msg new file mode 100644 index 0000000000..235b5df03b --- /dev/null +++ b/msg/navigation_capabilities.msg @@ -0,0 +1,5 @@ +uint64 timestamp # timestamp this topic was emitted +float32 turn_distance # the optimal distance to a waypoint to switch to the next +float32 landing_horizontal_slope_displacement +float32 landing_slope_angle_rad +float32 landing_flare_length diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index df4064a731..233fd3e007 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1009,7 +1009,7 @@ PX4IO::task_main() orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd); // Check for a DSM pairing command - if (((int)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) { + if (((uint32_t)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) { dsm_bind_ioctl((int)cmd.param2); } } diff --git a/src/drivers/trone/trone.cpp b/src/drivers/trone/trone.cpp index deb89f2f65..82045b7d73 100644 --- a/src/drivers/trone/trone.cpp +++ b/src/drivers/trone/trone.cpp @@ -314,10 +314,16 @@ TRONE::probe() uint8_t who_am_i=0; const uint8_t cmd = TRONE_WHO_AM_I_REG; - if (transfer(&cmd, 1, &who_am_i, 1) == OK && who_am_i == TRONE_WHO_AM_I_REG_VAL) { - // it is responding correctly to a WHO_AM_I - return measure(); - } + + // set the I2C bus address + set_address(TRONE_BASEADDR); + + // can't use a single transfer as TROne need a bit of time for internal processing + if (transfer(&cmd, 1, nullptr, 0) == OK) { + if ( transfer(nullptr, 0, &who_am_i, 1) == OK && who_am_i == TRONE_WHO_AM_I_REG_VAL){ + return measure(); + } + } debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n", (unsigned)who_am_i, diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 7faf3149f7..67e5f7a58c 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1582,6 +1582,8 @@ int commander_thread_main(int argc, char *argv[]) low_battery_voltage_actions_done = true; if (armed.armed) { mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED"); + } else { + mavlink_log_critical(mavlink_fd, "LOW BATTERY, TAKEOFF DISCOURAGED"); } status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW; status_changed = true; @@ -2054,11 +2056,13 @@ int commander_thread_main(int argc, char *argv[]) set_tune(TONE_ARMING_WARNING_TUNE); arm_tune_played = true; - } else if (status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) { + } else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) && + status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) { /* play tune on battery critical */ set_tune(TONE_BATTERY_WARNING_FAST_TUNE); - } else if (status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW || status.failsafe) { + } else if ((status.hil_state != vehicle_status_s::HIL_STATE_ON) && + (status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW || status.failsafe)) { /* play tune on battery warning or failsafe */ set_tune(TONE_BATTERY_WARNING_SLOW_TUNE); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 8ebe0c696d..834c8398a1 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -948,7 +948,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) * which makes the corner positions unreachable. * scale yaw up and clip it to overcome this. */ - rc.values[2] = man.r / 1.2f + 1500; + rc.values[2] = man.r / 1.1f + 1500; if (rc.values[2] > 2000) { rc.values[2] = 2000; } else if (rc.values[2] < 1000) { @@ -956,7 +956,12 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) } /* throttle */ - rc.values[3] = man.z + 1000; + rc.values[3] = man.z / 0.9f + 1000; + if (rc.values[3] > 2000) { + rc.values[3] = 2000; + } else if (rc.values[3] < 1000) { + rc.values[3] = 1000; + } rc.values[4] = decode_switch_pos_n(man.buttons, 0) * 1000 + 1000; rc.values[5] = decode_switch_pos_n(man.buttons, 1) * 1000 + 1000; diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c index b1bd4e540e..435229865c 100644 --- a/src/modules/navigator/mission_params.c +++ b/src/modules/navigator/mission_params.c @@ -81,7 +81,7 @@ PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1); * @max 1000 * @group Mission */ -PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500); +PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 900); /** * Altitude setpoint mode @@ -94,7 +94,7 @@ PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500); * @max 1 * @group Mission */ -PARAM_DEFINE_INT32(MIS_ALTMODE, 0); +PARAM_DEFINE_INT32(MIS_ALTMODE, 1); /** * Multirotor only. Yaw setpoint mode. diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index ac004f2127..1a35cf3e43 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -64,6 +64,10 @@ static int _dsm_fd; static uint16_t rc_value_override = 0; +#ifdef ADC_RSSI +static unsigned _rssi_adc_counts = 0; +#endif + bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated) { perf_begin(c_gather_dsm); @@ -71,17 +75,22 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool uint8_t n_bytes = 0; uint8_t *bytes; *dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes); + if (*dsm_updated) { r_raw_rc_count = temp_count & 0x7fff; - if (temp_count & 0x8000) + + if (temp_count & 0x8000) { r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11; - else + + } else { r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11; + } r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); } + perf_end(c_gather_dsm); /* get data from FD and attempt to parse with DSM and ST24 libs */ @@ -94,7 +103,7 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool /* set updated flag if one complete packet was parsed */ st24_rssi = RC_INPUT_RSSI_MAX; *st24_updated |= (OK == st24_decode(bytes[i], &st24_rssi, &rx_count, - &st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS)); + &st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS)); } if (*st24_updated) { @@ -121,7 +130,7 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool /* set updated flag if one complete packet was parsed */ sumd_rssi = RC_INPUT_RSSI_MAX; *sumd_updated |= (OK == sumd_decode(bytes[i], &sumd_rssi, &sumd_rx_count, - &sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS)); + &sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS)); } if (*sumd_updated) { @@ -170,7 +179,8 @@ controls_init(void) } void -controls_tick() { +controls_tick() +{ /* * Gather R/C control inputs from supported sources. @@ -184,19 +194,24 @@ controls_tick() { uint16_t rssi = 0; #ifdef ADC_RSSI + if (r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) { unsigned counts = adc_measure(ADC_RSSI); - if (counts != 0xffff) { - /* use 1:1 scaling on 3.3V ADC input */ - unsigned mV = counts * 3300 / 4096; - /* scale to 0..253 and lowpass */ - rssi = (rssi * 0.99f) + ((mV / (3300 / RC_INPUT_RSSI_MAX)) * 0.01f); + if (counts != 0xffff) { + /* low pass*/ + _rssi_adc_counts = (_rssi_adc_counts * 0.998f) + (counts * 0.002f); + /* use 1:1 scaling on 3.3V, 12-Bit ADC input */ + unsigned mV = _rssi_adc_counts * 3300 / 4095; + /* scale to 0..100 (RC_INPUT_RSSI_MAX == 100) */ + rssi = (mV * RC_INPUT_RSSI_MAX / 3300); + if (rssi > RC_INPUT_RSSI_MAX) { rssi = RC_INPUT_RSSI_MAX; } } } + #endif /* zero RSSI if signal is lost */ @@ -207,21 +222,26 @@ controls_tick() { perf_begin(c_gather_dsm); bool dsm_updated, st24_updated, sumd_updated; (void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated); + if (dsm_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; } + if (st24_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24; } + if (sumd_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SUMD; } + perf_end(c_gather_dsm); perf_begin(c_gather_sbus); bool sbus_failsafe, sbus_frame_drop; - bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS); + bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, + PX4IO_RC_INPUT_CHANNELS); if (sbus_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; @@ -231,17 +251,19 @@ controls_tick() { if (sbus_frame_drop) { r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FRAME_DROP; sbus_rssi = RC_INPUT_RSSI_MAX / 2; + } else { r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); } if (sbus_failsafe) { r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE; + } else { r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); } - /* set RSSI to an emulated value if ADC RSSI is off */ + /* set RSSI to an emulated value if ADC RSSI is off */ if (!(r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI)) { rssi = sbus_rssi; } @@ -257,17 +279,20 @@ controls_tick() { */ perf_begin(c_gather_ppm); bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_raw_rc_input[PX4IO_P_RAW_RC_DATA]); + if (ppm_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); } + perf_end(c_gather_ppm); /* limit number of channels to allowable data size */ - if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS) + if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS) { r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS; + } /* store RSSI */ r_page_raw_rc_input[PX4IO_P_RAW_RC_NRSSI] = rssi; @@ -308,10 +333,13 @@ controls_tick() { /* * 1) Constrain to min/max values, as later processing depends on bounds. */ - if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) + if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) { raw = conf[PX4IO_P_RC_CONFIG_MIN]; - if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) + } + + if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) { raw = conf[PX4IO_P_RC_CONFIG_MAX]; + } /* * 2) Scale around the mid point differently for lower and upper range. @@ -330,10 +358,12 @@ controls_tick() { * DO NOT REMOVE OR ALTER STEP 1! */ if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)( + conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)( + conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); } else { /* in the configured dead zone, output zero */ @@ -347,6 +377,7 @@ controls_tick() { /* and update the scaled/mapped version */ unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; + if (mapped < PX4IO_CONTROL_CHANNELS) { /* invert channel if pitch - pulling the lever down means pitching up by convention */ @@ -360,6 +391,7 @@ controls_tick() { if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) || ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) { r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE; + } else { r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); } @@ -389,6 +421,7 @@ controls_tick() { /* if we have enough channels (5) to control the vehicle, the mapping is ok */ if (assigned_channels > 4) { r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK; + } else { r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); } @@ -408,9 +441,9 @@ controls_tick() { /* clear the input-kind flags here */ r_status_flags &= ~( - PX4IO_P_STATUS_FLAGS_RC_PPM | - PX4IO_P_STATUS_FLAGS_RC_DSM | - PX4IO_P_STATUS_FLAGS_RC_SBUS); + PX4IO_P_STATUS_FLAGS_RC_PPM | + PX4IO_P_STATUS_FLAGS_RC_DSM | + PX4IO_P_STATUS_FLAGS_RC_SBUS); } @@ -427,8 +460,8 @@ controls_tick() { if (rc_input_lost) { /* Clear the RC input status flag, clear manual override flag */ r_status_flags &= ~( - PX4IO_P_STATUS_FLAGS_OVERRIDE | - PX4IO_P_STATUS_FLAGS_RC_OK); + PX4IO_P_STATUS_FLAGS_OVERRIDE | + PX4IO_P_STATUS_FLAGS_RC_OK); /* flag raw RC as lost */ r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK); @@ -451,9 +484,9 @@ controls_tick() { * Override is enabled if either the hardcoded channel / value combination * is selected, or the AP has requested it. */ - if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && - !(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { + if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && + !(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { bool override = false; @@ -464,8 +497,9 @@ controls_tick() { * requested override. * */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) { override = true; + } /* if the FMU is dead then enable override if we have a @@ -473,20 +507,23 @@ controls_tick() { */ if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) - override = true; + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { + override = true; + } if (override) { r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; /* mix new RC input control values to servos */ - if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated) + if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated) { mixer_tick(); + } } else { r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); } + } else { r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); } @@ -512,8 +549,10 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len) /* PPM data exists, copy it */ *num_values = ppm_decoded_channels; - if (*num_values > PX4IO_RC_INPUT_CHANNELS) + + if (*num_values > PX4IO_RC_INPUT_CHANNELS) { *num_values = PX4IO_RC_INPUT_CHANNELS; + } for (unsigned i = 0; ((i < *num_values) && (i < PPM_MAX_CHANNELS)); i++) { values[i] = ppm_buffer[i]; diff --git a/src/modules/uORB/topics/navigation_capabilities.h b/src/modules/uORB/topics/navigation_capabilities.h deleted file mode 100644 index 7a5ae98914..0000000000 --- a/src/modules/uORB/topics/navigation_capabilities.h +++ /dev/null @@ -1,70 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012-2013 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 navigation_capabilities.h - * - * Definition of navigation capabilities uORB topic. - */ - -#ifndef TOPIC_NAVIGATION_CAPABILITIES_H_ -#define TOPIC_NAVIGATION_CAPABILITIES_H_ - -#include "../uORB.h" -#include - -/** - * @addtogroup topics - * @{ - */ - -/** - * Airspeed - */ -struct navigation_capabilities_s { - float turn_distance; /**< the optimal distance to a waypoint to switch to the next */ - - /* Landing parameters: see fw_pos_control_l1/landingslope.h */ - float landing_horizontal_slope_displacement; - float landing_slope_angle_rad; - float landing_flare_length; -}; - -/** - * @} - */ - -/* register this as object request broker structure */ -ORB_DECLARE(navigation_capabilities); - -#endif