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249 lines
9.1 KiB
C++
249 lines
9.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2022 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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#pragma once
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/**
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* @file rc_update.h
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*
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* @author Beat Kueng <beat-kueng@gmx.net>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
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#include <drivers/drv_hrt.h>
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#include <lib/hysteresis/hysteresis.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/perf/perf_counter.h>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/manual_control_switches.h>
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#include <uORB/topics/input_rc.h>
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/rc_parameter_map.h>
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#include <uORB/topics/parameter_update.h>
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using namespace time_literals;
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namespace rc_update
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{
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/**
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** class RCUpdate
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*
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* Handling of RC updates
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*/
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class RCUpdate : public ModuleBase<RCUpdate>, public ModuleParams, public px4::WorkItem
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{
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public:
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RCUpdate();
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~RCUpdate() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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int print_status() override;
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protected:
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static constexpr uint64_t VALID_DATA_MIN_INTERVAL_US{1_s / 3}; // assume valid RC input is at least 3 Hz
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void Run() override;
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/**
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* Check for changes in rc_parameter_map
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*/
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void rc_parameter_map_poll(bool forced = false);
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/**
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* update the RC functions. Call this when the parameters change.
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*/
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void update_rc_functions();
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void UpdateManualControlInput(const hrt_abstime ×tamp_sample);
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void UpdateManualSwitches(const hrt_abstime ×tamp_sample);
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/**
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* Update our local parameter cache.
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*/
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void updateParams() override;
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/**
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* Get and limit value for specified RC function. Returns NAN if not mapped.
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*/
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float get_rc_value(uint8_t func, float min_value, float max_value) const;
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/**
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* Get on/off switch position from the RC channel of the specified function
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*
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* @param function according to rc_channels_s::FUNCTION_XXX
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* @param threshold according to RC_XXX_TH parameters, negative means on and off are flipped
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*/
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switch_pos_t getRCSwitchOnOffPosition(uint8_t function, float threshold) const;
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/**
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* Update parameters from RC channels if the functionality is activated and the
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* input has changed since the last update
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*/
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void set_params_from_rc();
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void map_flight_modes_buttons();
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static constexpr uint8_t RC_MAX_CHAN_COUNT{input_rc_s::RC_INPUT_MAX_CHANNELS}; /**< maximum number of r/c channels we handle */
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struct Parameters {
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uint16_t min[RC_MAX_CHAN_COUNT];
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uint16_t trim[RC_MAX_CHAN_COUNT];
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uint16_t max[RC_MAX_CHAN_COUNT];
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uint16_t dz[RC_MAX_CHAN_COUNT];
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bool rev[RC_MAX_CHAN_COUNT];
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int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
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} _parameters{};
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struct ParameterHandles {
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param_t min[RC_MAX_CHAN_COUNT];
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param_t trim[RC_MAX_CHAN_COUNT];
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param_t max[RC_MAX_CHAN_COUNT];
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param_t rev[RC_MAX_CHAN_COUNT];
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param_t dz[RC_MAX_CHAN_COUNT];
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param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
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param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< param handles for the parameters which are bound
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to a RC channel, equivalent float values in the
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_parameters struct are not existing
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because these parameters are never read. */
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} _parameter_handles{};
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uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _rc_parameter_map_sub{ORB_ID(rc_parameter_map)};
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uORB::Publication<rc_channels_s> _rc_channels_pub{ORB_ID(rc_channels)};
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uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
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uORB::Publication<manual_control_switches_s> _manual_control_switches_pub{ORB_ID(manual_control_switches)};
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manual_control_switches_s _manual_switches_previous{};
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manual_control_switches_s _manual_switches_last_publish{};
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rc_channels_s _rc{};
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bool _rc_calibrated{false};
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rc_parameter_map_s _rc_parameter_map {};
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float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN] {}; /**< parameter values for RC control */
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hrt_abstime _last_manual_control_input_publish{0};
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hrt_abstime _last_rc_to_param_map_time{0};
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hrt_abstime _last_timestamp_signal{0};
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uint16_t _rc_values_previous[RC_MAX_CHAN_COUNT] {};
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float _last_manual_control_input[3] {};
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bool _aux_already_active[3] = {false, false, false};
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uint8_t _channel_count_previous{0};
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uint8_t _input_source_previous{input_rc_s::RC_INPUT_SOURCE_UNKNOWN};
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uint8_t _potential_button_press_slot{0};
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systemlib::Hysteresis _button_pressed_hysteresis{false};
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systemlib::Hysteresis _rc_signal_lost_hysteresis{true};
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uint8_t _channel_count_max{0};
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perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};
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perf_counter_t _valid_data_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": valid data interval")};
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::RC_MAP_ROLL>) _param_rc_map_roll,
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(ParamInt<px4::params::RC_MAP_PITCH>) _param_rc_map_pitch,
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(ParamInt<px4::params::RC_MAP_YAW>) _param_rc_map_yaw,
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(ParamInt<px4::params::RC_MAP_THROTTLE>) _param_rc_map_throttle,
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(ParamInt<px4::params::RC_MAP_FAILSAFE>) _param_rc_map_failsafe,
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(ParamInt<px4::params::RC_MAP_FLTMODE>) _param_rc_map_fltmode,
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(ParamInt<px4::params::RC_MAP_FLAPS>) _param_rc_map_flaps,
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(ParamInt<px4::params::RC_MAP_RETURN_SW>) _param_rc_map_return_sw,
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(ParamInt<px4::params::RC_MAP_LOITER_SW>) _param_rc_map_loiter_sw,
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(ParamInt<px4::params::RC_MAP_OFFB_SW>) _param_rc_map_offb_sw,
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(ParamInt<px4::params::RC_MAP_KILL_SW>) _param_rc_map_kill_sw,
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(ParamInt<px4::params::RC_MAP_ARM_SW>) _param_rc_map_arm_sw,
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(ParamInt<px4::params::RC_MAP_TRANS_SW>) _param_rc_map_trans_sw,
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(ParamInt<px4::params::RC_MAP_GEAR_SW>) _param_rc_map_gear_sw,
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(ParamInt<px4::params::RC_MAP_FLTM_BTN>) _param_rc_map_fltm_btn,
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(ParamInt<px4::params::RC_MAP_AUX1>) _param_rc_map_aux1,
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(ParamInt<px4::params::RC_MAP_AUX2>) _param_rc_map_aux2,
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(ParamInt<px4::params::RC_MAP_AUX3>) _param_rc_map_aux3,
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(ParamInt<px4::params::RC_MAP_AUX4>) _param_rc_map_aux4,
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(ParamInt<px4::params::RC_MAP_AUX5>) _param_rc_map_aux5,
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(ParamInt<px4::params::RC_MAP_AUX6>) _param_rc_map_aux6,
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(ParamInt<px4::params::RC_MAP_ENG_MOT>) _param_rc_map_eng_mot,
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(ParamInt<px4::params::RC_FAILS_THR>) _param_rc_fails_thr,
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(ParamInt<px4::params::RC_MAP_PAY_SW>) _param_rc_map_payload_sw,
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(ParamFloat<px4::params::RC_LOITER_TH>) _param_rc_loiter_th,
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(ParamFloat<px4::params::RC_OFFB_TH>) _param_rc_offb_th,
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(ParamFloat<px4::params::RC_KILLSWITCH_TH>) _param_rc_killswitch_th,
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(ParamFloat<px4::params::RC_ARMSWITCH_TH>) _param_rc_armswitch_th,
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(ParamFloat<px4::params::RC_TRANS_TH>) _param_rc_trans_th,
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(ParamFloat<px4::params::RC_GEAR_TH>) _param_rc_gear_th,
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(ParamFloat<px4::params::RC_RETURN_TH>) _param_rc_return_th,
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(ParamFloat<px4::params::RC_ENG_MOT_TH>) _param_rc_eng_mot_th,
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(ParamFloat<px4::params::RC_PAYLOAD_TH>) _param_rc_payload_th,
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(ParamInt<px4::params::RC_CHAN_CNT>) _param_rc_chan_cnt
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)
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};
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} /* namespace rc_update */
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