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144 lines
4.4 KiB
C++
144 lines
4.4 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 "actuator_test.hpp"
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#include "functions/FunctionMotors.hpp"
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using namespace time_literals;
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ActuatorTest::ActuatorTest(const OutputFunction function_assignments[MAX_ACTUATORS])
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: _function_assignments(function_assignments)
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{
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reset();
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}
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void ActuatorTest::update(int num_outputs, float thrust_curve)
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{
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const hrt_abstime now = hrt_absolute_time();
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actuator_test_s actuator_test;
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while (_actuator_test_sub.update(&actuator_test)) {
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if (actuator_test.timestamp == 0 ||
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hrt_elapsed_time(&actuator_test.timestamp) > 100_ms) {
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continue;
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}
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for (int i = 0; i < num_outputs; ++i) {
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if ((int)_function_assignments[i] == actuator_test.function) {
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bool in_test_mode = actuator_test.action == actuator_test_s::ACTION_DO_CONTROL;
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// entering test mode?
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if (!_in_test_mode && in_test_mode) {
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reset();
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_in_test_mode = true;
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}
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_output_overridden[i] = in_test_mode;
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if (in_test_mode) {
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if (actuator_test.timeout_ms > 0) {
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_next_timeout = now + actuator_test.timeout_ms * 1000;
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}
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float value = actuator_test.value;
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// handle motors
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if ((int)OutputFunction::Motor1 <= actuator_test.function && actuator_test.function <= (int)OutputFunction::MotorMax) {
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actuator_motors_s motors;
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motors.reversible_flags = 0;
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_actuator_motors_sub.copy(&motors);
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int motor_idx = actuator_test.function - (int)OutputFunction::Motor1;
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FunctionMotors::updateValues(motors.reversible_flags >> motor_idx, thrust_curve, &value, 1);
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}
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// handle servos: add trim
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if ((int)OutputFunction::Servo1 <= actuator_test.function && actuator_test.function <= (int)OutputFunction::ServoMax) {
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actuator_servos_trim_s trim{};
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_actuator_servos_trim_sub.copy(&trim);
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int idx = actuator_test.function - (int)OutputFunction::Servo1;
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if (idx < actuator_servos_trim_s::NUM_CONTROLS) {
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value += trim.trim[idx];
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}
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}
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_current_outputs[i] = value;
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} else {
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_current_outputs[i] = NAN;
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}
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}
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}
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}
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if (_in_test_mode) {
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// check if all disabled
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bool any_overridden = false;
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for (int i = 0; i < num_outputs; ++i) {
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any_overridden |= _output_overridden[i];
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}
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if (!any_overridden) {
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_in_test_mode = false;
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}
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}
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// check for timeout
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if (_in_test_mode && _next_timeout != 0 && now > _next_timeout) {
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_in_test_mode = false;
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}
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}
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void ActuatorTest::overrideValues(float outputs[MAX_ACTUATORS], int num_outputs)
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{
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if (_in_test_mode) {
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for (int i = 0; i < num_outputs; ++i) {
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outputs[i] = _current_outputs[i];
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}
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}
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}
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void ActuatorTest::reset()
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{
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_in_test_mode = false;
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_next_timeout = 0;
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for (int i = 0; i < MAX_ACTUATORS; ++i) {
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_current_outputs[i] = NAN;
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_output_overridden[i] = false;
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}
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}
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