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118 lines
4.0 KiB
C++
118 lines
4.0 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_posix.h>
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#include <px4_time.h>
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#include "rc_calibration.h"
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#include "commander_helper.h"
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#include <poll.h>
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#include <unistd.h>
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#include <uORB/topics/sensor_combined.h>
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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 <systemlib/param/param.h>
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#include <systemlib/err.h>
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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static const int ERROR = -1;
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int do_trim_calibration(orb_advert_t *mavlink_log_pub)
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{
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int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
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usleep(400000);
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struct manual_control_setpoint_s sp;
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bool changed;
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orb_check(sub_man, &changed);
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if (!changed) {
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mavlink_log_critical(mavlink_log_pub, "no inputs, aborting");
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return ERROR;
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}
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orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
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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 = sp.y * 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 = -sp.x * pitch_scale + pitch_trim_active;
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int p2r = param_set(param_find("TRIM_PITCH"), &p);
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p = sp.r * yaw_scale + yaw_trim_active;
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int p3r = param_set(param_find("TRIM_YAW"), &p);
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/* store to permanent storage */
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/* auto-save */
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int save_ret = param_save_default();
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if (save_ret != 0 || p1r != 0 || p2r != 0 || p3r != 0) {
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mavlink_log_critical(mavlink_log_pub, "TRIM: PARAM SET FAIL");
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px4_close(sub_man);
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return ERROR;
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}
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mavlink_log_info(mavlink_log_pub, "trim cal done");
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px4_close(sub_man);
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return OK;
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}
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