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Avionics Anonymous
cc96468fad
Adds automatic control of more light types via UAVCAN. Publishes commands for beacon, strobe, nav, and landings lights. Each is automatically controlled based on arming state and this behavior is configurable per light type via params. For example, nav lights can be set to be always on while beacons turn on when the system is prearmed and strobes turn on only when armed.
196 lines
5.3 KiB
C
196 lines
5.3 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2014-2017 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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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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/**
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* UAVCAN mode
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*
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* 0 - UAVCAN disabled.
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* 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update.
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* 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update.
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* 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.
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*
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* @min 0
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* @max 3
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* @value 0 Disabled
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* @value 1 Sensors Manual Config
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* @value 2 Sensors Automatic Config
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* @value 3 Sensors and Actuators (ESCs) Automatic Config
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);
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/**
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* UAVCAN Node ID.
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*
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* Read the specs at http://uavcan.org to learn more about Node ID.
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*
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* @min 1
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* @max 125
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);
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/**
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* UAVCAN CAN bus bitrate.
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*
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* @unit bit/s
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* @min 20000
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* @max 1000000
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);
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/**
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* UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints.
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*
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* @boolean
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_ESC_IDLT, 1);
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/**
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* UAVCAN rangefinder minimum range
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*
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* This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.
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*
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* @unit m
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* @group UAVCAN
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*/
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PARAM_DEFINE_FLOAT(UAVCAN_RNG_MIN, 0.3f);
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/**
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* UAVCAN rangefinder maximum range
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*
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* This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.
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*
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* @unit m
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* @group UAVCAN
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*/
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PARAM_DEFINE_FLOAT(UAVCAN_RNG_MAX, 200.0f);
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/**
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* UAVCAN ANTI_COLLISION light operating mode
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*
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* This parameter defines the minimum condition under which the system will command
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* the ANTI_COLLISION lights on
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*
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* 0 - Always off
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* 1 - When autopilot is armed
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* 2 - When autopilot is prearmed
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* 3 - Always on
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*
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* @min 0
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* @max 3
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* @value 0 Always off
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* @value 1 When autopilot is armed
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* @value 2 When autopilot is prearmed
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* @value 3 Always on
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_LGT_ANTCL, 2);
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/**
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* UAVCAN STROBE light operating mode
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*
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* This parameter defines the minimum condition under which the system will command
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* the STROBE lights on
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*
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* 0 - Always off
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* 1 - When autopilot is armed
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* 2 - When autopilot is prearmed
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* 3 - Always on
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*
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* @min 0
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* @max 3
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* @value 0 Always off
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* @value 1 When autopilot is armed
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* @value 2 When autopilot is prearmed
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* @value 3 Always on
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_LGT_STROB, 1);
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/**
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* UAVCAN RIGHT_OF_WAY light operating mode
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*
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* This parameter defines the minimum condition under which the system will command
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* the RIGHT_OF_WAY lights on
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*
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* 0 - Always off
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* 1 - When autopilot is armed
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* 2 - When autopilot is prearmed
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* 3 - Always on
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*
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* @min 0
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* @max 3
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* @value 0 Always off
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* @value 1 When autopilot is armed
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* @value 2 When autopilot is prearmed
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* @value 3 Always on
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_LGT_NAV, 3);
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/**
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* UAVCAN LIGHT_ID_LANDING light operating mode
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*
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* This parameter defines the minimum condition under which the system will command
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* the LIGHT_ID_LANDING lights on
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*
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* 0 - Always off
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* 1 - When autopilot is armed
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* 2 - When autopilot is prearmed
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* 3 - Always on
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*
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* @min 0
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* @max 3
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* @value 0 Always off
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* @value 1 When autopilot is armed
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* @value 2 When autopilot is prearmed
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* @value 3 Always on
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* @reboot_required true
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);
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