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331cb21dee
In review it was requested to have a different name for manual_control_setpoint.z because of the adjusted range. I started to investigate what naming is most intuitive and found that most people recognize the stick axes as roll, pitch, yaw, throttle. It comes at no surprise because other autopilots and APIs seem to share this convention. While changing the code I realized that even within the code base the axes are usually assigned to a variable with that name or have comments next to the assignment clarifying the axes using these names.
111 lines
4.3 KiB
C++
111 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2013 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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/**
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* @file rc_calibration.cpp
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* Remote Control calibration routine
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*/
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#include <px4_platform_common/events.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/time.h>
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#include <px4_platform_common/defines.h>
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#include "rc_calibration.h"
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#include "commander_helper.h"
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <systemlib/mavlink_log.h>
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#include <parameters/param.h>
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#include <systemlib/err.h>
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int do_trim_calibration(orb_advert_t *mavlink_log_pub)
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{
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uORB::Subscription manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
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px4_usleep(400000);
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manual_control_setpoint_s manual_control_setpoint{};
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bool changed = manual_control_setpoint_sub.updated();
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if (!changed) {
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mavlink_log_critical(mavlink_log_pub, "no inputs, aborting\t");
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events::send(events::ID("commander_cal_no_inputs"), {events::Log::Error, events::LogInternal::Info},
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"No inputs, aborting RC trim calibration");
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return PX4_ERROR;
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}
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manual_control_setpoint_sub.copy(&manual_control_setpoint);
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/* load trim values which are active */
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float roll_trim_active;
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param_get(param_find("TRIM_ROLL"), &roll_trim_active);
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float pitch_trim_active;
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param_get(param_find("TRIM_PITCH"), &pitch_trim_active);
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float yaw_trim_active;
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param_get(param_find("TRIM_YAW"), &yaw_trim_active);
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/* get manual control scale values */
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float roll_scale;
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param_get(param_find("FW_MAN_R_SC"), &roll_scale);
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float pitch_scale;
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param_get(param_find("FW_MAN_P_SC"), &pitch_scale);
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float yaw_scale;
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param_get(param_find("FW_MAN_Y_SC"), &yaw_scale);
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/* set parameters: the new trim values are the combination of active trim values
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and the values coming from the remote control of the user
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*/
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float p = manual_control_setpoint.roll * roll_scale + roll_trim_active;
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int p1r = param_set(param_find("TRIM_ROLL"), &p);
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/*
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we explicitly swap sign here because the trim is added to the actuator controls
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which are moving in an inverse sense to manual pitch inputs
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*/
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p = -manual_control_setpoint.pitch * pitch_scale + pitch_trim_active;
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int p2r = param_set(param_find("TRIM_PITCH"), &p);
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p = manual_control_setpoint.yaw * yaw_scale + yaw_trim_active;
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int p3r = param_set(param_find("TRIM_YAW"), &p);
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if (p1r != 0 || p2r != 0 || p3r != 0) {
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mavlink_log_critical(mavlink_log_pub, "TRIM: PARAM SET FAIL\t");
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events::send(events::ID("commander_cal_trim_param_set_failed"), events::Log::Critical,
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"RC trim calibration: failed to set parameters");
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return PX4_ERROR;
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}
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mavlink_log_info(mavlink_log_pub, "trim cal done\t");
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events::send(events::ID("commander_cal_trim_done"), events::Log::Info, "RC trim calibration completed");
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return PX4_OK;
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}
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