/**************************************************************************** * * 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 rc_update.cpp * * @author Beat Kueng */ #include "rc_update.h" #include #include #include #include #include using namespace sensors; RCUpdate::RCUpdate(const Parameters ¶meters) : _parameters(parameters) { memset(&_rc, 0, sizeof(_rc)); memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map)); memset(&_param_rc_values, 0, sizeof(_param_rc_values)); } int RCUpdate::init() { _rc_sub = orb_subscribe(ORB_ID(input_rc)); if (_rc_sub < 0) { return -errno; } _rc_parameter_map_sub = orb_subscribe(ORB_ID(rc_parameter_map)); if (_rc_parameter_map_sub < 0) { return -errno; } return 0; } void RCUpdate::deinit() { orb_unsubscribe(_rc_sub); orb_unsubscribe(_rc_parameter_map_sub); } void RCUpdate::update_rc_functions() { /* update RC function mappings */ _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE] = _parameters.rc_map_rattitude_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _parameters.rc_map_kill_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _parameters.rc_map_trans_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_GEAR] = _parameters.rc_map_gear_sw - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1; _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 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(ParameterHandles ¶meter_handles, bool forced) { bool map_updated; orb_check(_rc_parameter_map_sub, &map_updated); if (map_updated) { orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_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]]; 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 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(const ParameterHandles ¶meter_handles) { 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::rc_poll(const ParameterHandles ¶meter_handles) { bool rc_updated; orb_check(_rc_sub, &rc_updated); if (rc_updated) { /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ struct rc_input_values rc_input; orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); /* detect RC signal loss */ bool signal_lost; /* 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; } else { /* signal looks good */ signal_lost = false; /* check failsafe */ int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping fs_ch = _parameters.rc_map_failsafe - 1; } if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) { /* failsafe configured */ if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) || (_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) { /* failsafe triggered, signal is lost by receiver */ signal_lost = true; } } } unsigned channel_limit = rc_input.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. */ if (rc_input.values[i] < _parameters.min[i]) { rc_input.values[i] = _parameters.min[i]; } if (rc_input.values[i] > _parameters.max[i]) { rc_input.values[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 (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) { _rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)( _parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]); } else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) { _rc.channels[i] = (rc_input.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; } _rc.channels[i] *= _parameters.rev[i]; /* handle any parameter-induced blowups */ if (!PX4_ISFINITE(_rc.channels[i])) { _rc.channels[i] = 0.0f; } } _rc.channel_count = rc_input.channel_count; _rc.rssi = rc_input.rssi; _rc.signal_lost = signal_lost; _rc.timestamp = rc_input.timestamp_last_signal; _rc.frame_drop_count = rc_input.rc_lost_frame_count; /* publish rc_channels topic even if signal is invalid, for debug */ int instance; orb_publish_auto(ORB_ID(rc_channels), &_rc_pub, &_rc, &instance, ORB_PRIO_DEFAULT); /* only publish manual control if the signal is still present */ if (!signal_lost) { /* initialize manual setpoint */ struct manual_control_setpoint_s manual = {}; /* set mode slot to unassigned */ manual.mode_slot = manual_control_setpoint_s::MODE_SLOT_NONE; /* set the timestamp to the last signal time */ manual.timestamp = rc_input.timestamp_last_signal; /* limit controls */ manual.y = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0); manual.x = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0); manual.r = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0); manual.z = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0); manual.flaps = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0); manual.aux1 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0); manual.aux2 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0); manual.aux3 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0); manual.aux4 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0); manual.aux5 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0); if (_parameters.rc_map_flightmode > 0) { /* the number of valid slots equals the index of the max marker minus one */ const int num_slots = manual_control_setpoint_s::MODE_SLOT_MAX; /* 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.mode_slot = (((((_rc.channels[_parameters.rc_map_flightmode - 1] - slot_min) * num_slots) + slot_width_half) / (slot_max - slot_min)) + (1.0f / num_slots)); if (manual.mode_slot >= num_slots) { manual.mode_slot = num_slots - 1; } } /* mode switches */ manual.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv); manual.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE, _parameters.rc_rattitude_th, _parameters.rc_rattitude_inv); manual.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv); manual.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th, _parameters.rc_return_inv); manual.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv); manual.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv); manual.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv); manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH, _parameters.rc_killswitch_th, _parameters.rc_killswitch_inv); manual.arm_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH, _parameters.rc_armswitch_th, _parameters.rc_armswitch_inv); manual.transition_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION, _parameters.rc_trans_th, _parameters.rc_trans_inv); manual.gear_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_GEAR, _parameters.rc_gear_th, _parameters.rc_gear_inv); /* publish manual_control_setpoint topic */ orb_publish_auto(ORB_ID(manual_control_setpoint), &_manual_control_pub, &manual, &instance, ORB_PRIO_DEFAULT); /* copy from mapped manual control to control group 3 */ struct actuator_controls_s actuator_group_3 = {}; actuator_group_3.timestamp = rc_input.timestamp_last_signal; actuator_group_3.control[0] = manual.y; actuator_group_3.control[1] = manual.x; actuator_group_3.control[2] = manual.r; actuator_group_3.control[3] = manual.z; 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 */ orb_publish_auto(ORB_ID(actuator_controls_3), &_actuator_group_3_pub, &actuator_group_3, &instance, ORB_PRIO_DEFAULT); /* Update parameters from RC Channels (tuning with RC) if activated */ if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1e6) { set_params_from_rc(parameter_handles); _last_rc_to_param_map_time = hrt_absolute_time(); } } } }