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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
25488da944
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
266 lines
8.4 KiB
C++
266 lines
8.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015-2017 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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* @file esc_calibration.cpp
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*
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* Definition of esc calibration
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*
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* @author Roman Bapst <roman@px4.io>
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*/
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#include "esc_calibration.h"
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#include "calibration_messages.h"
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#include "calibration_routines.h"
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_pwm_output.h>
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#include <px4_platform_common/defines.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 <systemlib/mavlink_log.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/actuator_test.h>
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#include <parameters/param.h>
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using namespace time_literals;
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bool check_battery_disconnected(orb_advert_t *mavlink_log_pub)
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{
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uORB::SubscriptionData<battery_status_s> batt_sub{ORB_ID(battery_status)};
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const battery_status_s &battery = batt_sub.get();
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batt_sub.update();
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if (battery.timestamp == 0) {
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calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "battery unavailable");
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return false;
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}
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// Make sure battery is disconnected
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// battery is not connected if the connected flag is not set and we have a recent battery measurement
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if (!battery.connected && (hrt_elapsed_time(&battery.timestamp) < 500_ms)) {
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return true;
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}
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calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again");
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return false;
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}
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static void set_motor_actuators(uORB::Publication<actuator_test_s> &publisher, float value, bool release_control)
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{
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actuator_test_s actuator_test{};
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actuator_test.timestamp = hrt_absolute_time();
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actuator_test.value = value;
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actuator_test.action = release_control ? actuator_test_s::ACTION_RELEASE_CONTROL : actuator_test_s::ACTION_DO_CONTROL;
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actuator_test.timeout_ms = 0;
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for (int i = 0; i < actuator_test_s::MAX_NUM_MOTORS; ++i) {
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actuator_test.function = actuator_test_s::FUNCTION_MOTOR1 + i;
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publisher.publish(actuator_test);
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}
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}
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int do_esc_calibration_ctrl_alloc(orb_advert_t *mavlink_log_pub)
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{
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int return_code = PX4_OK;
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uORB::Publication<actuator_test_s> actuator_test_pub{ORB_ID(actuator_test)};
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// since we publish multiple at once, make sure the output driver subscribes before we publish
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actuator_test_pub.advertise();
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px4_usleep(10000);
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// set motors to high
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set_motor_actuators(actuator_test_pub, 1.f, false);
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calibration_log_info(mavlink_log_pub, "[cal] Connect battery now");
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uORB::SubscriptionData<battery_status_s> batt_sub{ORB_ID(battery_status)};
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const battery_status_s &battery = batt_sub.get();
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batt_sub.update();
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bool batt_connected = battery.connected;
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hrt_abstime timeout_start = hrt_absolute_time();
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while (true) {
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// We are either waiting for the user to connect the battery. Or we are waiting to let the PWM
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// sit high.
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static constexpr hrt_abstime battery_connect_wait_timeout{20_s};
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static constexpr hrt_abstime pwm_high_timeout{3_s};
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hrt_abstime timeout_wait = batt_connected ? pwm_high_timeout : battery_connect_wait_timeout;
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if (hrt_elapsed_time(&timeout_start) > timeout_wait) {
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if (!batt_connected) {
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calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Timeout waiting for battery");
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return_code = PX4_ERROR;
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}
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// PWM was high long enough
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break;
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}
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if (!batt_connected) {
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if (batt_sub.update()) {
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if (battery.connected) {
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// Battery is connected, signal to user and start waiting again
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batt_connected = true;
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timeout_start = hrt_absolute_time();
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calibration_log_info(mavlink_log_pub, "[cal] Battery connected");
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}
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}
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}
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px4_usleep(50000);
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}
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if (return_code == PX4_OK) {
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// set motors to low
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set_motor_actuators(actuator_test_pub, 0.f, false);
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px4_usleep(4000000);
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// release control
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set_motor_actuators(actuator_test_pub, 0.f, true);
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calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "esc");
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}
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return return_code;
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}
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static int do_esc_calibration_ioctl(orb_advert_t *mavlink_log_pub)
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{
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int return_code = PX4_OK;
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hrt_abstime timeout_start = 0;
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uORB::SubscriptionData<battery_status_s> batt_sub{ORB_ID(battery_status)};
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const battery_status_s &battery = batt_sub.get();
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batt_sub.update();
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bool batt_connected = battery.connected;
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int fd = px4_open(PWM_OUTPUT0_DEVICE_PATH, 0);
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if (fd < 0) {
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calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Can't open PWM device");
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return_code = PX4_ERROR;
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goto Out;
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}
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/* tell IO/FMU that its ok to disable its safety with the switch */
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if (px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0) != PX4_OK) {
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calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to disable safety switch");
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return_code = PX4_ERROR;
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goto Out;
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}
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/* tell IO/FMU that the system is armed (it will output values if safety is off) */
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if (px4_ioctl(fd, PWM_SERVO_ARM, 0) != PX4_OK) {
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calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to arm system");
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return_code = PX4_ERROR;
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goto Out;
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}
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calibration_log_info(mavlink_log_pub, "[cal] Connect battery now");
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timeout_start = hrt_absolute_time();
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while (true) {
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// We are either waiting for the user to connect the battery. Or we are waiting to let the PWM
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// sit high.
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static constexpr hrt_abstime battery_connect_wait_timeout{20_s};
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static constexpr hrt_abstime pwm_high_timeout{3_s};
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hrt_abstime timeout_wait = batt_connected ? pwm_high_timeout : battery_connect_wait_timeout;
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if (hrt_elapsed_time(&timeout_start) > timeout_wait) {
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if (!batt_connected) {
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calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Timeout waiting for battery");
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return_code = PX4_ERROR;
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goto Out;
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}
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// PWM was high long enough
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break;
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}
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if (!batt_connected) {
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if (batt_sub.update()) {
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if (battery.connected) {
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// Battery is connected, signal to user and start waiting again
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batt_connected = true;
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timeout_start = hrt_absolute_time();
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calibration_log_info(mavlink_log_pub, "[cal] Battery connected");
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}
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}
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}
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px4_usleep(50000);
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}
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Out:
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if (fd != -1) {
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if (px4_ioctl(fd, PWM_SERVO_DISARM, 0) != PX4_OK) {
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calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Servos still armed");
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}
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if (px4_ioctl(fd, PWM_SERVO_CLEAR_ARM_OK, 0) != PX4_OK) {
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calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Safety switch still deactivated");
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}
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px4_close(fd);
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}
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if (return_code == PX4_OK) {
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calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "esc");
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}
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return return_code;
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}
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int do_esc_calibration(orb_advert_t *mavlink_log_pub)
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{
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calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "esc");
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param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
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int32_t ctrl_alloc = 0;
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if (p_ctrl_alloc != PARAM_INVALID) {
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param_get(p_ctrl_alloc, &ctrl_alloc);
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}
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if (ctrl_alloc == 1) {
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return do_esc_calibration_ctrl_alloc(mavlink_log_pub);
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} else {
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return do_esc_calibration_ioctl(mavlink_log_pub);
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}
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}
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