/**************************************************************************** * * 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 parameters.cpp * * @author Beat Kueng */ #include "parameters.h" namespace sensors { int initialize_parameter_handles(ParameterHandles ¶meter_handles) { /* basic r/c parameters */ for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) { char nbuf[16]; /* min values */ sprintf(nbuf, "RC%d_MIN", i + 1); parameter_handles.min[i] = param_find(nbuf); /* trim values */ sprintf(nbuf, "RC%d_TRIM", i + 1); parameter_handles.trim[i] = param_find(nbuf); /* max values */ sprintf(nbuf, "RC%d_MAX", i + 1); parameter_handles.max[i] = param_find(nbuf); /* channel reverse */ sprintf(nbuf, "RC%d_REV", i + 1); parameter_handles.rev[i] = param_find(nbuf); /* channel deadzone */ sprintf(nbuf, "RC%d_DZ", i + 1); parameter_handles.dz[i] = param_find(nbuf); } /* mandatory input switched, mapped to channels 1-4 per default */ parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL"); parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH"); parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW"); parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE"); parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE"); /* mandatory mode switches, mapped to channel 5 and 6 per default */ parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW"); parameter_handles.rc_map_return_sw = param_find("RC_MAP_RETURN_SW"); parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); /* optional mode switches, not mapped per default */ parameter_handles.rc_map_rattitude_sw = param_find("RC_MAP_RATT_SW"); parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW"); parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW"); parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW"); parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW"); parameter_handles.rc_map_kill_sw = param_find("RC_MAP_KILL_SW"); parameter_handles.rc_map_arm_sw = param_find("RC_MAP_ARM_SW"); parameter_handles.rc_map_trans_sw = param_find("RC_MAP_TRANS_SW"); parameter_handles.rc_map_gear_sw = param_find("RC_MAP_GEAR_SW"); parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1"); parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2"); parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3"); parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4"); parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5"); /* RC to parameter mapping for changing parameters with RC */ for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { char name[rc_parameter_map_s::PARAM_ID_LEN]; snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1); // shifted by 1 because param name starts at 1 parameter_handles.rc_map_param[i] = param_find(name); } parameter_handles.rc_map_flightmode = param_find("RC_MAP_FLTMODE"); /* RC thresholds */ parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR"); parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH"); parameter_handles.rc_auto_th = param_find("RC_AUTO_TH"); parameter_handles.rc_rattitude_th = param_find("RC_RATT_TH"); parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH"); parameter_handles.rc_return_th = param_find("RC_RETURN_TH"); parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH"); parameter_handles.rc_acro_th = param_find("RC_ACRO_TH"); parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH"); parameter_handles.rc_killswitch_th = param_find("RC_KILLSWITCH_TH"); parameter_handles.rc_armswitch_th = param_find("RC_ARMSWITCH_TH"); parameter_handles.rc_trans_th = param_find("RC_TRANS_TH"); parameter_handles.rc_gear_th = param_find("RC_GEAR_TH"); /* RC low pass filter configuration */ parameter_handles.rc_flt_smp_rate = param_find("RC_FLT_SMP_RATE"); parameter_handles.rc_flt_cutoff = param_find("RC_FLT_CUTOFF"); /* Differential pressure offset */ parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF"); parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC"); parameter_handles.battery_voltage_scaling = param_find("BAT_CNT_V_VOLT"); parameter_handles.battery_current_scaling = param_find("BAT_CNT_V_CURR"); parameter_handles.battery_current_offset = param_find("BAT_V_OFFS_CURR"); parameter_handles.battery_v_div = param_find("BAT_V_DIV"); parameter_handles.battery_a_per_v = param_find("BAT_A_PER_V"); parameter_handles.battery_source = param_find("BAT_SOURCE"); /* rotations */ parameter_handles.board_rotation = param_find("SENS_BOARD_ROT"); /* rotation offsets */ parameter_handles.board_offset[0] = param_find("SENS_BOARD_X_OFF"); parameter_handles.board_offset[1] = param_find("SENS_BOARD_Y_OFF"); parameter_handles.board_offset[2] = param_find("SENS_BOARD_Z_OFF"); /* Barometer QNH */ parameter_handles.baro_qnh = param_find("SENS_BARO_QNH"); parameter_handles.vibe_thresh = param_find("ATT_VIBE_THRESH"); // These are parameters for which QGroundControl always expects to be returned in a list request. // We do a param_find here to force them into the list. (void)param_find("RC_CHAN_CNT"); (void)param_find("RC_TH_USER"); (void)param_find("CAL_MAG0_ID"); (void)param_find("CAL_MAG1_ID"); (void)param_find("CAL_MAG2_ID"); (void)param_find("CAL_MAG0_ROT"); (void)param_find("CAL_MAG1_ROT"); (void)param_find("CAL_MAG2_ROT"); (void)param_find("CAL_MAG_SIDES"); (void)param_find("CAL_MAG1_XOFF"); (void)param_find("CAL_MAG1_XSCALE"); (void)param_find("CAL_MAG1_YOFF"); (void)param_find("CAL_MAG1_YSCALE"); (void)param_find("CAL_MAG1_ZOFF"); (void)param_find("CAL_MAG1_ZSCALE"); (void)param_find("CAL_MAG2_XOFF"); (void)param_find("CAL_MAG2_XSCALE"); (void)param_find("CAL_MAG2_YOFF"); (void)param_find("CAL_MAG2_YSCALE"); (void)param_find("CAL_MAG2_ZOFF"); (void)param_find("CAL_MAG2_ZSCALE"); (void)param_find("CAL_GYRO1_XOFF"); (void)param_find("CAL_GYRO1_XSCALE"); (void)param_find("CAL_GYRO1_YOFF"); (void)param_find("CAL_GYRO1_YSCALE"); (void)param_find("CAL_GYRO1_ZOFF"); (void)param_find("CAL_GYRO1_ZSCALE"); (void)param_find("CAL_GYRO2_XOFF"); (void)param_find("CAL_GYRO2_XSCALE"); (void)param_find("CAL_GYRO2_YOFF"); (void)param_find("CAL_GYRO2_YSCALE"); (void)param_find("CAL_GYRO2_ZOFF"); (void)param_find("CAL_GYRO2_ZSCALE"); (void)param_find("CAL_ACC1_XOFF"); (void)param_find("CAL_ACC1_XSCALE"); (void)param_find("CAL_ACC1_YOFF"); (void)param_find("CAL_ACC1_YSCALE"); (void)param_find("CAL_ACC1_ZOFF"); (void)param_find("CAL_ACC1_ZSCALE"); (void)param_find("CAL_ACC2_XOFF"); (void)param_find("CAL_ACC2_XSCALE"); (void)param_find("CAL_ACC2_YOFF"); (void)param_find("CAL_ACC2_YSCALE"); (void)param_find("CAL_ACC2_ZOFF"); (void)param_find("CAL_ACC2_ZSCALE"); (void)param_find("SYS_PARAM_VER"); (void)param_find("SYS_AUTOSTART"); (void)param_find("SYS_AUTOCONFIG"); (void)param_find("PWM_RATE"); (void)param_find("PWM_MIN"); (void)param_find("PWM_MAX"); (void)param_find("PWM_DISARMED"); (void)param_find("PWM_AUX_MIN"); (void)param_find("PWM_AUX_MAX"); (void)param_find("PWM_AUX_DISARMED"); (void)param_find("TRIG_MODE"); (void)param_find("UAVCAN_ENABLE"); (void)param_find("SYS_MC_EST_GROUP"); return 0; } int update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters) { bool rc_valid = true; float tmpScaleFactor = 0.0f; float tmpRevFactor = 0.0f; int ret = PX4_OK; /* rc values */ for (unsigned int i = 0; i < RC_MAX_CHAN_COUNT; i++) { param_get(parameter_handles.min[i], &(parameters.min[i])); param_get(parameter_handles.trim[i], &(parameters.trim[i])); param_get(parameter_handles.max[i], &(parameters.max[i])); param_get(parameter_handles.rev[i], &(parameters.rev[i])); param_get(parameter_handles.dz[i], &(parameters.dz[i])); tmpScaleFactor = (1.0f / ((parameters.max[i] - parameters.min[i]) / 2.0f) * parameters.rev[i]); tmpRevFactor = tmpScaleFactor * parameters.rev[i]; /* handle blowup in the scaling factor calculation */ if (!PX4_ISFINITE(tmpScaleFactor) || (tmpRevFactor < 0.000001f) || (tmpRevFactor > 0.2f)) { PX4_WARN("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(parameters.rev[i])); /* scaling factors do not make sense, lock them down */ parameters.scaling_factor[i] = 0.0f; rc_valid = false; } else { parameters.scaling_factor[i] = tmpScaleFactor; } } /* handle wrong values */ if (!rc_valid) { PX4_ERR("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n"); } const char *paramerr = "FAIL PARM LOAD"; /* channel mapping */ if (param_get(parameter_handles.rc_map_roll, &(parameters.rc_map_roll)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_pitch, &(parameters.rc_map_pitch)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_yaw, &(parameters.rc_map_yaw)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_throttle, &(parameters.rc_map_throttle)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_failsafe, &(parameters.rc_map_failsafe)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_mode_sw, &(parameters.rc_map_mode_sw)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_return_sw, &(parameters.rc_map_return_sw)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_rattitude_sw, &(parameters.rc_map_rattitude_sw)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_posctl_sw, &(parameters.rc_map_posctl_sw)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_loiter_sw, &(parameters.rc_map_loiter_sw)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_acro_sw, &(parameters.rc_map_acro_sw)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_offboard_sw, &(parameters.rc_map_offboard_sw)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_kill_sw, &(parameters.rc_map_kill_sw)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_arm_sw, &(parameters.rc_map_arm_sw)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_trans_sw, &(parameters.rc_map_trans_sw)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_flaps, &(parameters.rc_map_flaps)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.rc_map_gear_sw, &(parameters.rc_map_gear_sw)) != OK) { PX4_WARN("%s", paramerr); } param_get(parameter_handles.rc_map_aux1, &(parameters.rc_map_aux1)); param_get(parameter_handles.rc_map_aux2, &(parameters.rc_map_aux2)); 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)); for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { param_get(parameter_handles.rc_map_param[i], &(parameters.rc_map_param[i])); } param_get(parameter_handles.rc_map_flightmode, &(parameters.rc_map_flightmode)); param_get(parameter_handles.rc_fails_thr, &(parameters.rc_fails_thr)); param_get(parameter_handles.rc_assist_th, &(parameters.rc_assist_th)); parameters.rc_assist_inv = (parameters.rc_assist_th < 0); parameters.rc_assist_th = fabs(parameters.rc_assist_th); param_get(parameter_handles.rc_auto_th, &(parameters.rc_auto_th)); parameters.rc_auto_inv = (parameters.rc_auto_th < 0); parameters.rc_auto_th = fabs(parameters.rc_auto_th); param_get(parameter_handles.rc_rattitude_th, &(parameters.rc_rattitude_th)); parameters.rc_rattitude_inv = (parameters.rc_rattitude_th < 0); parameters.rc_rattitude_th = fabs(parameters.rc_rattitude_th); param_get(parameter_handles.rc_posctl_th, &(parameters.rc_posctl_th)); parameters.rc_posctl_inv = (parameters.rc_posctl_th < 0); parameters.rc_posctl_th = fabs(parameters.rc_posctl_th); param_get(parameter_handles.rc_return_th, &(parameters.rc_return_th)); parameters.rc_return_inv = (parameters.rc_return_th < 0); parameters.rc_return_th = fabs(parameters.rc_return_th); param_get(parameter_handles.rc_loiter_th, &(parameters.rc_loiter_th)); parameters.rc_loiter_inv = (parameters.rc_loiter_th < 0); parameters.rc_loiter_th = fabs(parameters.rc_loiter_th); param_get(parameter_handles.rc_acro_th, &(parameters.rc_acro_th)); parameters.rc_acro_inv = (parameters.rc_acro_th < 0); parameters.rc_acro_th = fabs(parameters.rc_acro_th); param_get(parameter_handles.rc_offboard_th, &(parameters.rc_offboard_th)); parameters.rc_offboard_inv = (parameters.rc_offboard_th < 0); parameters.rc_offboard_th = fabs(parameters.rc_offboard_th); param_get(parameter_handles.rc_killswitch_th, &(parameters.rc_killswitch_th)); parameters.rc_killswitch_inv = (parameters.rc_killswitch_th < 0); parameters.rc_killswitch_th = fabs(parameters.rc_killswitch_th); param_get(parameter_handles.rc_armswitch_th, &(parameters.rc_armswitch_th)); parameters.rc_armswitch_inv = (parameters.rc_armswitch_th < 0); parameters.rc_armswitch_th = fabs(parameters.rc_armswitch_th); param_get(parameter_handles.rc_trans_th, &(parameters.rc_trans_th)); parameters.rc_trans_inv = (parameters.rc_trans_th < 0); parameters.rc_trans_th = fabs(parameters.rc_trans_th); param_get(parameter_handles.rc_gear_th, &(parameters.rc_gear_th)); parameters.rc_gear_inv = (parameters.rc_gear_th < 0); parameters.rc_gear_th = fabs(parameters.rc_gear_th); param_get(parameter_handles.rc_flt_smp_rate, &(parameters.rc_flt_smp_rate)); parameters.rc_flt_smp_rate = math::max(1.0f, parameters.rc_flt_smp_rate); param_get(parameter_handles.rc_flt_cutoff, &(parameters.rc_flt_cutoff)); parameters.rc_flt_cutoff = math::max(1.0f, parameters.rc_flt_cutoff); /* Airspeed offset */ param_get(parameter_handles.diff_pres_offset_pa, &(parameters.diff_pres_offset_pa)); param_get(parameter_handles.diff_pres_analog_scale, &(parameters.diff_pres_analog_scale)); /* scaling of ADC ticks to battery voltage */ if (param_get(parameter_handles.battery_voltage_scaling, &(parameters.battery_voltage_scaling)) != OK) { PX4_WARN("%s", paramerr); } else if (parameters.battery_voltage_scaling < 0.0f) { /* apply scaling according to defaults if set to default */ parameters.battery_voltage_scaling = (3.3f / 4096); param_set(parameter_handles.battery_voltage_scaling, ¶meters.battery_voltage_scaling); } /* scaling of ADC ticks to battery current */ if (param_get(parameter_handles.battery_current_scaling, &(parameters.battery_current_scaling)) != OK) { PX4_WARN("%s", paramerr); } else if (parameters.battery_current_scaling < 0.0f) { /* apply scaling according to defaults if set to default */ parameters.battery_current_scaling = (3.3f / 4096); param_set(parameter_handles.battery_current_scaling, ¶meters.battery_current_scaling); } if (param_get(parameter_handles.battery_current_offset, &(parameters.battery_current_offset)) != OK) { PX4_WARN("%s", paramerr); } if (param_get(parameter_handles.battery_v_div, &(parameters.battery_v_div)) != OK) { PX4_WARN("%s", paramerr); parameters.battery_v_div = 0.0f; } else if (parameters.battery_v_div <= 0.0f) { /* apply scaling according to defaults if set to default */ parameters.battery_v_div = BOARD_BATTERY1_V_DIV; param_set(parameter_handles.battery_v_div, ¶meters.battery_v_div); } if (param_get(parameter_handles.battery_a_per_v, &(parameters.battery_a_per_v)) != OK) { PX4_WARN("%s", paramerr); parameters.battery_a_per_v = 0.0f; } else if (parameters.battery_a_per_v <= 0.0f) { /* apply scaling according to defaults if set to default */ parameters.battery_a_per_v = BOARD_BATTERY1_A_PER_V; param_set(parameter_handles.battery_a_per_v, ¶meters.battery_a_per_v); } param_get(parameter_handles.battery_source, &(parameters.battery_source)); param_get(parameter_handles.board_rotation, &(parameters.board_rotation)); param_get(parameter_handles.board_offset[0], &(parameters.board_offset[0])); param_get(parameter_handles.board_offset[1], &(parameters.board_offset[1])); param_get(parameter_handles.board_offset[2], &(parameters.board_offset[2])); param_get(parameter_handles.baro_qnh, &(parameters.baro_qnh)); param_get(parameter_handles.vibe_thresh, ¶meters.vibration_warning_threshold); return ret; } } /* namespace sensors */