mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-02 10:30:34 +08:00
Daniel Agar
181 lines
7.5 KiB
C++
181 lines
7.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "ManualControl.hpp"
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#include <drivers/drv_hrt.h>
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using namespace time_literals;
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enum OverrideBits {
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OVERRIDE_AUTO_MODE_BIT = (1 << 0),
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OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1),
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OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
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};
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bool ManualControl::update()
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{
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bool updated = false;
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if (_manual_control_setpoint_sub.updated()) {
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_last_manual_control_setpoint = _manual_control_setpoint;
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_manual_control_setpoint_sub.copy(&_manual_control_setpoint);
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updated = true;
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}
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_rc_available = _rc_allowed
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&& _manual_control_setpoint.timestamp != 0
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&& (hrt_elapsed_time(&_manual_control_setpoint.timestamp) < (_param_com_rc_loss_t.get() * 1_s));
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return updated && _rc_available;
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}
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bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_mode)
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{
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const bool override_auto_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_AUTO_MODE_BIT)
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&& vehicle_control_mode.flag_control_auto_enabled;
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const bool override_offboard_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT)
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&& vehicle_control_mode.flag_control_offboard_enabled;
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if (_rc_available && (override_auto_mode || override_offboard_mode)) {
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const float minimum_stick_change = .01f * _param_com_rc_stick_ov.get();
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const bool rpy_moved = (fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > minimum_stick_change)
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|| (fabsf(_manual_control_setpoint.y - _last_manual_control_setpoint.y) > minimum_stick_change)
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|| (fabsf(_manual_control_setpoint.r - _last_manual_control_setpoint.r) > minimum_stick_change);
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// Throttle change value doubled to achieve the same scaling even though the range is [0,1] instead of [-1,1]
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const bool throttle_moved =
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(fabsf(_manual_control_setpoint.z - _last_manual_control_setpoint.z) * 2.f > minimum_stick_change);
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const bool use_throttle = !(_param_rc_override.get() & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT);
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if (rpy_moved || (use_throttle && throttle_moved)) {
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return true;
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}
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}
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return false;
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}
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bool ManualControl::wantsDisarm(const vehicle_control_mode_s &vehicle_control_mode,
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const vehicle_status_s &vehicle_status,
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manual_control_switches_s &manual_control_switches, const bool landed)
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{
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bool ret = false;
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const bool use_stick = manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_NONE;
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const bool use_button = !use_stick && _param_com_arm_swisbtn.get();
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const bool use_switch = !use_stick && !use_button;
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const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
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const bool stick_in_lower_left = use_stick
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&& isThrottleLow()
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&& _manual_control_setpoint.r < -.9f;
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const bool arm_button_pressed = (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON)
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&& use_button;
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const bool arm_switch_to_disarm_transition = use_switch
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&& (_last_manual_control_switches_arm_switch == manual_control_switches_s::SWITCH_POS_ON)
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&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF);
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const bool mc_manual_thrust_mode = vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
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&& vehicle_control_mode.flag_control_manual_enabled
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&& !vehicle_control_mode.flag_control_climb_rate_enabled;
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if (armed
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&& (landed || mc_manual_thrust_mode)
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&& (stick_in_lower_left || arm_button_pressed || arm_switch_to_disarm_transition)) {
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const bool last_disarm_hysteresis = _stick_disarm_hysteresis.get_state();
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_stick_disarm_hysteresis.set_state_and_update(true, hrt_absolute_time());
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const bool disarm_trigger = !last_disarm_hysteresis && _stick_disarm_hysteresis.get_state()
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&& !_stick_arm_hysteresis.get_state();
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if (disarm_trigger || arm_switch_to_disarm_transition) {
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ret = true;
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}
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} else if (!arm_button_pressed) {
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_stick_disarm_hysteresis.set_state_and_update(false, hrt_absolute_time());
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}
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return ret;
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}
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bool ManualControl::wantsArm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
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const manual_control_switches_s &manual_control_switches, const bool landed)
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{
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bool ret = false;
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const bool use_stick = manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_NONE;
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const bool use_button = !use_stick && _param_com_arm_swisbtn.get();
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const bool use_switch = !use_stick && !use_button;
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const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
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const bool stick_in_lower_right = use_stick
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&& isThrottleLow()
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&& _manual_control_setpoint.r > .9f;
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const bool arm_button_pressed = use_button
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&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON);
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const bool arm_switch_to_arm_transition = use_switch
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&& (_last_manual_control_switches_arm_switch == manual_control_switches_s::SWITCH_POS_OFF)
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&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON);
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if (!armed
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&& (stick_in_lower_right || arm_button_pressed || arm_switch_to_arm_transition)) {
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const bool last_arm_hysteresis = _stick_arm_hysteresis.get_state();
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_stick_arm_hysteresis.set_state_and_update(true, hrt_absolute_time());
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const bool arm_trigger = !last_arm_hysteresis && _stick_arm_hysteresis.get_state()
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&& !_stick_disarm_hysteresis.get_state();
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if (arm_trigger || arm_switch_to_arm_transition) {
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ret = true;
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}
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} else if (!arm_button_pressed) {
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_stick_arm_hysteresis.set_state_and_update(false, hrt_absolute_time());
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}
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_last_manual_control_switches_arm_switch = manual_control_switches.arm_switch; // After disarm and arm check
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return ret;
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}
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void ManualControl::updateParams()
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{
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ModuleParams::updateParams();
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_stick_disarm_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms);
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_stick_arm_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms);
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}
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