/**************************************************************************** * * Copyright (c) 2016-2019 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 rc_update.cpp * * @author Beat Kueng */ #include "rc_update.h" using namespace time_literals; namespace RCUpdate { RCUpdate::RCUpdate() : ModuleParams(nullptr), WorkItem(MODULE_NAME, px4::wq_configurations::hp_default), _loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME)) { // initialize parameter handles 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); } // RC to parameter mapping for changing parameters with RC for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { // shifted by 1 because param name starts at 1 char name[rc_parameter_map_s::PARAM_ID_LEN]; snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1); _parameter_handles.rc_map_param[i] = param_find(name); } rc_parameter_map_poll(true /* forced */); parameters_updated(); } RCUpdate::~RCUpdate() { perf_free(_loop_perf); } bool RCUpdate::init() { if (!_input_rc_sub.registerCallback()) { PX4_ERR("input_rc callback registration failed!"); return false; } return true; } void RCUpdate::parameters_updated() { // rc values for (unsigned int i = 0; i < RC_MAX_CHAN_COUNT; i++) { float min = 0.0f; param_get(_parameter_handles.min[i], &min); _parameters.min[i] = min; float trim = 0.0f; param_get(_parameter_handles.trim[i], &trim); _parameters.trim[i] = trim; float max = 0.0f; param_get(_parameter_handles.max[i], &max); _parameters.max[i] = max; float rev = 0.0f; param_get(_parameter_handles.rev[i], &rev); _parameters.rev[i] = rev < 0.0f; float dz = 0.0f; param_get(_parameter_handles.dz[i], &dz); _parameters.dz[i] = dz; } 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])); } update_rc_functions(); } void RCUpdate::update_rc_functions() { /* update RC function mappings */ _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _param_rc_map_throttle.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _param_rc_map_roll.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _param_rc_map_pitch.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _param_rc_map_yaw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _param_rc_map_mode_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _param_rc_map_return_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE] = _param_rc_map_ratt_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _param_rc_map_posctl_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _param_rc_map_loiter_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _param_rc_map_acro_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _param_rc_map_offb_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _param_rc_map_kill_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH] = _param_rc_map_arm_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _param_rc_map_trans_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_GEAR] = _param_rc_map_gear_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_STAB] = _param_rc_map_stab_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MAN] = _param_rc_map_man_sw.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _param_rc_map_flaps.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _param_rc_map_aux1.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _param_rc_map_aux2.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _param_rc_map_aux3.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _param_rc_map_aux4.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _param_rc_map_aux5.get() - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6] = _param_rc_map_aux6.get() - 1; for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1; } } void RCUpdate::rc_parameter_map_poll(bool forced) { if (_rc_parameter_map_sub.updated() || forced) { _rc_parameter_map_sub.copy(&_rc_parameter_map); /* update parameter handles to which the RC channels are mapped */ for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) { /* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0) * or no request to map this channel to a param has been sent via mavlink */ continue; } /* Set the handle by index if the index is set, otherwise use the id */ if (_rc_parameter_map.param_index[i] >= 0) { _parameter_handles.rc_param[i] = param_for_used_index((unsigned)_rc_parameter_map.param_index[i]); } else { _parameter_handles.rc_param[i] = param_find(&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)]); } } PX4_DEBUG("rc to parameter map updated"); for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { PX4_DEBUG("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f", i, &_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)], (double)_rc_parameter_map.scale[i], (double)_rc_parameter_map.value0[i], (double)_rc_parameter_map.value_min[i], (double)_rc_parameter_map.value_max[i] ); } } } float RCUpdate::get_rc_value(uint8_t func, float min_value, float max_value) { if (_rc.function[func] >= 0) { float value = _rc.channels[_rc.function[func]]; return math::constrain(value, min_value, max_value); } else { return 0.0f; } } switch_pos_t RCUpdate::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv) { if (_rc.function[func] >= 0) { float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; if (on_inv ? value < on_th : value > on_th) { return manual_control_setpoint_s::SWITCH_POS_ON; } else if (mid_inv ? value < mid_th : value > mid_th) { return manual_control_setpoint_s::SWITCH_POS_MIDDLE; } else { return manual_control_setpoint_s::SWITCH_POS_OFF; } } else { return manual_control_setpoint_s::SWITCH_POS_NONE; } } switch_pos_t RCUpdate::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv) { if (_rc.function[func] >= 0) { float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; if (on_inv ? value < on_th : value > on_th) { return manual_control_setpoint_s::SWITCH_POS_ON; } else { return manual_control_setpoint_s::SWITCH_POS_OFF; } } else { return manual_control_setpoint_s::SWITCH_POS_NONE; } } void RCUpdate::set_params_from_rc() { for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) { if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) { /* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0) * or no request to map this channel to a param has been sent via mavlink */ continue; } float rc_val = get_rc_value((rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0); /* Check if the value has changed, * maybe we need to introduce a more aggressive limit here */ if (rc_val > _param_rc_values[i] + FLT_EPSILON || rc_val < _param_rc_values[i] - FLT_EPSILON) { _param_rc_values[i] = rc_val; float param_val = math::constrain( _rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val, _rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]); param_set(_parameter_handles.rc_param[i], ¶m_val); } } } void RCUpdate::Run() { if (should_exit()) { _input_rc_sub.unregisterCallback(); exit_and_cleanup(); return; } perf_begin(_loop_perf); // check for parameter updates if (_parameter_update_sub.updated()) { // clear update parameter_update_s pupdate; _parameter_update_sub.copy(&pupdate); // update parameters from storage updateParams(); parameters_updated(); } rc_parameter_map_poll(); /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ input_rc_s input_rc; if (_input_rc_sub.update(&input_rc)) { // warn if the channel count is changing (possibly indication of error) if (!input_rc.rc_lost) { if ((_channel_count_previous != input_rc.channel_count) && (_channel_count_previous > 0)) { PX4_WARN("channel count changed %d -> %d", _channel_count_previous, input_rc.channel_count); } if ((_input_source_previous != input_rc.input_source) && (_input_source_previous != input_rc_s::RC_INPUT_SOURCE_UNKNOWN)) { PX4_WARN("input source changed %d -> %d", _input_source_previous, input_rc.input_source); } } const bool input_source_stable = (input_rc.input_source == _input_source_previous); const bool channel_count_stable = (input_rc.channel_count == _channel_count_previous); _input_source_previous = input_rc.input_source; _channel_count_previous = input_rc.channel_count; /* detect RC signal loss */ bool signal_lost = true; /* check flags and require at least four channels to consider the signal valid */ if (input_rc.rc_lost || input_rc.rc_failsafe || input_rc.channel_count < 4) { /* signal is lost or no enough channels */ signal_lost = true; } else if ((input_rc.input_source == input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM || input_rc.input_source == input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM) && input_rc.channel_count == 16) { // This is a specific RC lost check for RFD 868+/900 Modems on PPM. // The observation was that when RC is lost, 16 channels are active and the first 12 are 1000 // and the remaining ones are 0. for (unsigned int i = 0; i < 16; i++) { if (i < 12 && input_rc.values[i] > 999 && input_rc.values[i] < 1005) { signal_lost = true; } else if (input_rc.values[i] == 0) { signal_lost = true; } else { signal_lost = false; break; } } } else { /* signal looks good */ signal_lost = false; /* check failsafe */ int8_t fs_ch = _rc.function[_param_rc_map_failsafe.get()]; // get channel mapped to throttle if (_param_rc_map_failsafe.get() > 0) { // if not 0, use channel number instead of rc.function mapping fs_ch = _param_rc_map_failsafe.get() - 1; } if (_param_rc_fails_thr.get() > 0 && fs_ch >= 0) { /* failsafe configured */ if ((_param_rc_fails_thr.get() < _parameters.min[fs_ch] && input_rc.values[fs_ch] < _param_rc_fails_thr.get()) || (_param_rc_fails_thr.get() > _parameters.max[fs_ch] && input_rc.values[fs_ch] > _param_rc_fails_thr.get())) { /* failsafe triggered, signal is lost by receiver */ signal_lost = true; } } } unsigned channel_limit = input_rc.channel_count; if (channel_limit > RC_MAX_CHAN_COUNT) { channel_limit = RC_MAX_CHAN_COUNT; } /* read out and scale values from raw message even if signal is invalid */ for (unsigned int i = 0; i < channel_limit; i++) { /* * 1) Constrain to min/max values, as later processing depends on bounds. */ input_rc.values[i] = math::constrain(input_rc.values[i], _parameters.min[i], _parameters.max[i]); /* * 2) Scale around the mid point differently for lower and upper range. * * This is necessary as they don't share the same endpoints and slope. * * First normalize to 0..1 range with correct sign (below or above center), * the total range is 2 (-1..1). * If center (trim) == min, scale to 0..1, if center (trim) == max, * scale to -1..0. * * As the min and max bounds were enforced in step 1), division by zero * cannot occur, as for the case of center == min or center == max the if * statement is mutually exclusive with the arithmetic NaN case. * * DO NOT REMOVE OR ALTER STEP 1! */ if (input_rc.values[i] > (_parameters.trim[i] + _parameters.dz[i])) { _rc.channels[i] = (input_rc.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)( _parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]); } else if (input_rc.values[i] < (_parameters.trim[i] - _parameters.dz[i])) { _rc.channels[i] = (input_rc.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)( _parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]); } else { /* in the configured dead zone, output zero */ _rc.channels[i] = 0.0f; } if (_parameters.rev[i]) { _rc.channels[i] = -_rc.channels[i]; } /* handle any parameter-induced blowups */ if (!PX4_ISFINITE(_rc.channels[i])) { _rc.channels[i] = 0.0f; } } _rc.channel_count = input_rc.channel_count; _rc.rssi = input_rc.rssi; _rc.signal_lost = signal_lost; _rc.timestamp = input_rc.timestamp_last_signal; _rc.frame_drop_count = input_rc.rc_lost_frame_count; /* publish rc_channels topic even if signal is invalid, for debug */ _rc_pub.publish(_rc); /* only publish manual control if the signal is still present and was present once */ if (input_source_stable && channel_count_stable && !signal_lost && (input_rc.timestamp_last_signal > 0)) { /* initialize manual setpoint */ manual_control_setpoint_s manual_control_setpoint{}; /* set mode slot to unassigned */ manual_control_setpoint.mode_slot = manual_control_setpoint_s::MODE_SLOT_NONE; /* set the timestamp to the last signal time */ manual_control_setpoint.timestamp = input_rc.timestamp_last_signal; manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_RC; /* limit controls */ manual_control_setpoint.y = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0); manual_control_setpoint.x = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0); manual_control_setpoint.r = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0); manual_control_setpoint.z = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0); manual_control_setpoint.flaps = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0); manual_control_setpoint.aux1 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0); manual_control_setpoint.aux2 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0); manual_control_setpoint.aux3 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0); manual_control_setpoint.aux4 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0); manual_control_setpoint.aux5 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0); manual_control_setpoint.aux6 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6, -1.0, 1.0); if (_param_rc_map_fltmode.get() > 0) { /* number of valid slots */ const int num_slots = manual_control_setpoint_s::MODE_SLOT_NUM; /* the half width of the range of a slot is the total range * divided by the number of slots, again divided by two */ const float slot_width_half = 2.0f / num_slots / 2.0f; /* min is -1, max is +1, range is 2. We offset below min and max */ const float slot_min = -1.0f - 0.05f; const float slot_max = 1.0f + 0.05f; /* the slot gets mapped by first normalizing into a 0..1 interval using min * and max. Then the right slot is obtained by multiplying with the number of * slots. And finally we add half a slot width to ensure that integer rounding * will take us to the correct final index. */ manual_control_setpoint.mode_slot = (((((_rc.channels[_param_rc_map_fltmode.get() - 1] - slot_min) * num_slots) + slot_width_half) / (slot_max - slot_min)) + (1.0f / num_slots)) + 1; if (manual_control_setpoint.mode_slot > num_slots) { manual_control_setpoint.mode_slot = num_slots; } } /* mode switches */ manual_control_setpoint.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE, _param_rc_auto_th.get(), _param_rc_auto_th.get() < 0.f, _param_rc_assist_th.get(), _param_rc_assist_th.get() < 0.f); manual_control_setpoint.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE, _param_rc_ratt_th.get(), _param_rc_ratt_th.get() < 0.f); manual_control_setpoint.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL, _param_rc_posctl_th.get(), _param_rc_posctl_th.get() < 0.f); manual_control_setpoint.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN, _param_rc_return_th.get(), _param_rc_return_th.get() < 0.f); manual_control_setpoint.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER, _param_rc_loiter_th.get(), _param_rc_loiter_th.get() < 0.f); manual_control_setpoint.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO, _param_rc_acro_th.get(), _param_rc_acro_th.get() < 0.f); manual_control_setpoint.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD, _param_rc_offb_th.get(), _param_rc_offb_th.get() < 0.f); manual_control_setpoint.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH, _param_rc_killswitch_th.get(), _param_rc_killswitch_th.get() < 0.f); manual_control_setpoint.arm_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH, _param_rc_armswitch_th.get(), _param_rc_armswitch_th.get() < 0.f); manual_control_setpoint.transition_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION, _param_rc_trans_th.get(), _param_rc_trans_th.get() < 0.f); manual_control_setpoint.gear_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_GEAR, _param_rc_gear_th.get(), _param_rc_gear_th.get() < 0.f); manual_control_setpoint.stab_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_STAB, _param_rc_stab_th.get(), _param_rc_stab_th.get() < 0.f); manual_control_setpoint.man_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MAN, _param_rc_man_th.get(), _param_rc_man_th.get() < 0.f); /* publish manual_control_setpoint topic */ _manual_control_setpoint_pub.publish(manual_control_setpoint); /* copy from mapped manual_control_setpoint control to control group 3 */ actuator_controls_s actuator_group_3{}; actuator_group_3.timestamp = input_rc.timestamp_last_signal; actuator_group_3.control[0] = manual_control_setpoint.y; actuator_group_3.control[1] = manual_control_setpoint.x; actuator_group_3.control[2] = manual_control_setpoint.r; actuator_group_3.control[3] = manual_control_setpoint.z; actuator_group_3.control[4] = manual_control_setpoint.flaps; actuator_group_3.control[5] = manual_control_setpoint.aux1; actuator_group_3.control[6] = manual_control_setpoint.aux2; actuator_group_3.control[7] = manual_control_setpoint.aux3; /* publish actuator_controls_3 topic */ _actuator_group_3_pub.publish(actuator_group_3); /* Update parameters from RC Channels (tuning with RC) if activated */ if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1_s) { set_params_from_rc(); _last_rc_to_param_map_time = hrt_absolute_time(); } } } perf_end(_loop_perf); } int RCUpdate::task_spawn(int argc, char *argv[]) { RCUpdate *instance = new RCUpdate(); if (instance) { _object.store(instance); _task_id = task_id_is_work_queue; if (instance->init()) { return PX4_OK; } } else { PX4_ERR("alloc failed"); } delete instance; _object.store(nullptr); _task_id = -1; return PX4_ERROR; } int RCUpdate::custom_command(int argc, char *argv[]) { return print_usage("unknown command"); } int RCUpdate::print_usage(const char *reason) { if (reason) { PX4_WARN("%s\n", reason); } PRINT_MODULE_DESCRIPTION( R"DESCR_STR( ### Description The rc_update module handles RC channel mapping: read the raw input channels (`input_rc`), then apply the calibration, map the RC channels to the configured channels & mode switches, low-pass filter, and then publish as `rc_channels` and `manual_control_setpoint`. ### Implementation To reduce control latency, the module is scheduled on input_rc publications. )DESCR_STR"); PRINT_MODULE_USAGE_NAME("rc_update", "system"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); return 0; } } // namespace RCUpdate extern "C" __EXPORT int rc_update_main(int argc, char *argv[]) { return RCUpdate::RCUpdate::main(argc, argv); }