mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 02:03:33 +08:00
140 lines
4.4 KiB
C++
140 lines
4.4 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
/**
|
|
* @file rc_update.h
|
|
*
|
|
* @author Beat Kueng <beat-kueng@gmx.net>
|
|
*/
|
|
|
|
#include "parameters.h"
|
|
|
|
#include <drivers/drv_hrt.h>
|
|
#include <mathlib/mathlib.h>
|
|
#include <mathlib/math/filter/LowPassFilter2p.hpp>
|
|
#include <uORB/topics/rc_channels.h>
|
|
|
|
namespace sensors
|
|
{
|
|
|
|
/**
|
|
** class RCUpdate
|
|
*
|
|
* Handling of RC updates
|
|
*/
|
|
class RCUpdate
|
|
{
|
|
public:
|
|
/**
|
|
* @param parameters parameter values. These do not have to be initialized when constructing this object.
|
|
* Only when calling init(), they have to be initialized.
|
|
*/
|
|
RCUpdate(const Parameters ¶meters);
|
|
|
|
/**
|
|
* initialize subscriptions etc.
|
|
* @return 0 on success, <0 otherwise
|
|
*/
|
|
int init();
|
|
|
|
/**
|
|
* deinitialize the object (we cannot use the destructor because it is called on the wrong thread)
|
|
*/
|
|
void deinit();
|
|
|
|
/**
|
|
* Check for changes in rc_parameter_map
|
|
*/
|
|
void rc_parameter_map_poll(ParameterHandles ¶meter_handles, bool forced = false);
|
|
|
|
/**
|
|
* update the RC functions. Call this when the parameters change.
|
|
*/
|
|
void update_rc_functions();
|
|
|
|
/**
|
|
* Gather and publish RC input data.
|
|
*/
|
|
void rc_poll(const ParameterHandles ¶meter_handles);
|
|
|
|
private:
|
|
|
|
/**
|
|
* Get and limit value for specified RC function. Returns NAN if not mapped.
|
|
*/
|
|
float get_rc_value(uint8_t func, float min_value, float max_value);
|
|
|
|
/**
|
|
* Get switch position for specified function.
|
|
*/
|
|
switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
|
|
switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
|
|
|
|
/**
|
|
* Update parameters from RC channels if the functionality is activated and the
|
|
* input has changed since the last update
|
|
*
|
|
* @param
|
|
*/
|
|
void set_params_from_rc(const ParameterHandles ¶meter_handles);
|
|
|
|
|
|
int _rc_sub = -1; /**< raw rc channels data subscription */
|
|
int _rc_parameter_map_sub = -1; /**< rc parameter map subscription */
|
|
|
|
orb_advert_t _rc_pub = nullptr; /**< raw r/c control topic */
|
|
orb_advert_t _manual_control_pub = nullptr; /**< manual control signal topic */
|
|
orb_advert_t _actuator_group_3_pub = nullptr;/**< manual control as actuator topic */
|
|
|
|
struct rc_channels_s _rc; /**< r/c channel data */
|
|
|
|
struct rc_parameter_map_s _rc_parameter_map;
|
|
float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< parameter values for RC control */
|
|
|
|
const Parameters &_parameters;
|
|
|
|
hrt_abstime _last_rc_to_param_map_time = 0;
|
|
|
|
math::LowPassFilter2p _filter_roll; /**< filters for the main 4 stick inputs */
|
|
math::LowPassFilter2p _filter_pitch; /** we want smooth setpoints as inputs to the controllers */
|
|
math::LowPassFilter2p _filter_yaw;
|
|
math::LowPassFilter2p _filter_throttle;
|
|
|
|
};
|
|
|
|
|
|
|
|
} /* namespace sensors */
|