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089c962d92
Using mixers on the IO side had a remote benefit of being able to override all control surfaces with a radio remote on a fixed wing. This ended up not being used that much and since the original design 10 years ago (2011) we have been able to convince ourselves that the overall system stability is at a level where this marginal benefit, which is not present on multicopters, is not worth the hazzle. Co-authored-by: Beat Küng <beat-kueng@gmx.net> Co-authored-by: Daniel Agar <daniel@agar.ca>
243 lines
8.7 KiB
C++
243 lines
8.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2021 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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#pragma once
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/**
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* @file rc_update.h
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*
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* @author Beat Kueng <beat-kueng@gmx.net>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
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#include <drivers/drv_hrt.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/perf/perf_counter.h>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/manual_control_switches.h>
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#include <uORB/topics/input_rc.h>
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/rc_parameter_map.h>
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#include <uORB/topics/parameter_update.h>
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#include <hysteresis/hysteresis.h>
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using namespace time_literals;
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namespace RCUpdate
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{
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/**
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** class RCUpdate
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*
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* Handling of RC updates
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*/
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class RCUpdate : public ModuleBase<RCUpdate>, public ModuleParams, public px4::WorkItem
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{
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public:
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RCUpdate();
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~RCUpdate() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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int print_status() override;
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private:
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void Run() override;
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/**
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* Check for changes in rc_parameter_map
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*/
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void rc_parameter_map_poll(bool forced = false);
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/**
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* update the RC functions. Call this when the parameters change.
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*/
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void update_rc_functions();
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void UpdateManualSetpoint(const hrt_abstime ×tamp_sample);
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void UpdateManualSwitches(const hrt_abstime ×tamp_sample);
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/**
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* Update our local parameter cache.
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*/
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void parameters_updated();
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/**
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* Get and limit value for specified RC function. Returns NAN if not mapped.
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*/
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float get_rc_value(uint8_t func, float min_value, float max_value) const;
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/**
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* Get switch position for specified function.
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*/
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switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th) const;
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/**
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* Update parameters from RC channels if the functionality is activated and the
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* input has changed since the last update
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*
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* @param
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*/
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void set_params_from_rc();
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void map_flight_modes_buttons();
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static constexpr uint8_t RC_MAX_CHAN_COUNT{input_rc_s::RC_INPUT_MAX_CHANNELS}; /**< maximum number of r/c channels we handle */
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struct Parameters {
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uint16_t min[RC_MAX_CHAN_COUNT];
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uint16_t trim[RC_MAX_CHAN_COUNT];
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uint16_t max[RC_MAX_CHAN_COUNT];
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uint16_t dz[RC_MAX_CHAN_COUNT];
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bool rev[RC_MAX_CHAN_COUNT];
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int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
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} _parameters{};
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struct ParameterHandles {
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param_t min[RC_MAX_CHAN_COUNT];
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param_t trim[RC_MAX_CHAN_COUNT];
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param_t max[RC_MAX_CHAN_COUNT];
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param_t rev[RC_MAX_CHAN_COUNT];
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param_t dz[RC_MAX_CHAN_COUNT];
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param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
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param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< param handles for the parameters which are bound
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to a RC channel, equivalent float values in the
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_parameters struct are not existing
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because these parameters are never read. */
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} _parameter_handles{};
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uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _rc_parameter_map_sub{ORB_ID(rc_parameter_map)};
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uORB::Subscription _actuator_controls_3_sub{ORB_ID(actuator_controls_3)};
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uORB::Publication<rc_channels_s> _rc_channels_pub{ORB_ID(rc_channels)};
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uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
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uORB::Publication<manual_control_switches_s> _manual_control_switches_pub{ORB_ID(manual_control_switches)};
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uORB::Publication<actuator_controls_s> _actuator_group_3_pub{ORB_ID(actuator_controls_3)};
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manual_control_switches_s _manual_switches_previous{};
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manual_control_switches_s _manual_switches_last_publish{};
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rc_channels_s _rc{};
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rc_parameter_map_s _rc_parameter_map {};
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float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN] {}; /**< parameter values for RC control */
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hrt_abstime _last_manual_control_setpoint_publish{0};
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hrt_abstime _last_rc_to_param_map_time{0};
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hrt_abstime _last_timestamp_signal{0};
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uint16_t _rc_values_previous[RC_MAX_CHAN_COUNT] {};
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float _last_manual_control_setpoint[3] {};
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bool _aux_already_active[3] = {false, false, false};
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uint8_t _channel_count_previous{0};
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uint8_t _input_source_previous{input_rc_s::RC_INPUT_SOURCE_UNKNOWN};
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uint8_t _potential_button_press_slot{0};
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systemlib::Hysteresis _button_pressed_hysteresis{false};
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systemlib::Hysteresis _rc_signal_lost_hysteresis{true};
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uint8_t _channel_count_max{0};
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perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};
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perf_counter_t _valid_data_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": valid data interval")};
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::RC_MAP_ROLL>) _param_rc_map_roll,
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(ParamInt<px4::params::RC_MAP_PITCH>) _param_rc_map_pitch,
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(ParamInt<px4::params::RC_MAP_YAW>) _param_rc_map_yaw,
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(ParamInt<px4::params::RC_MAP_THROTTLE>) _param_rc_map_throttle,
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(ParamInt<px4::params::RC_MAP_FAILSAFE>) _param_rc_map_failsafe,
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(ParamInt<px4::params::RC_MAP_FLTMODE>) _param_rc_map_fltmode,
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(ParamInt<px4::params::RC_MAP_FLAPS>) _param_rc_map_flaps,
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(ParamInt<px4::params::RC_MAP_RETURN_SW>) _param_rc_map_return_sw,
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(ParamInt<px4::params::RC_MAP_LOITER_SW>) _param_rc_map_loiter_sw,
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(ParamInt<px4::params::RC_MAP_OFFB_SW>) _param_rc_map_offb_sw,
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(ParamInt<px4::params::RC_MAP_KILL_SW>) _param_rc_map_kill_sw,
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(ParamInt<px4::params::RC_MAP_ARM_SW>) _param_rc_map_arm_sw,
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(ParamInt<px4::params::RC_MAP_TRANS_SW>) _param_rc_map_trans_sw,
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(ParamInt<px4::params::RC_MAP_GEAR_SW>) _param_rc_map_gear_sw,
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(ParamInt<px4::params::RC_MAP_FLTM_BTN>) _param_rc_map_flightmode_buttons,
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(ParamInt<px4::params::RC_MAP_AUX1>) _param_rc_map_aux1,
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(ParamInt<px4::params::RC_MAP_AUX2>) _param_rc_map_aux2,
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(ParamInt<px4::params::RC_MAP_AUX3>) _param_rc_map_aux3,
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(ParamInt<px4::params::RC_MAP_AUX4>) _param_rc_map_aux4,
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(ParamInt<px4::params::RC_MAP_AUX5>) _param_rc_map_aux5,
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(ParamInt<px4::params::RC_MAP_AUX6>) _param_rc_map_aux6,
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(ParamInt<px4::params::RC_FAILS_THR>) _param_rc_fails_thr,
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(ParamFloat<px4::params::RC_LOITER_TH>) _param_rc_loiter_th,
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(ParamFloat<px4::params::RC_OFFB_TH>) _param_rc_offb_th,
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(ParamFloat<px4::params::RC_KILLSWITCH_TH>) _param_rc_killswitch_th,
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(ParamFloat<px4::params::RC_ARMSWITCH_TH>) _param_rc_armswitch_th,
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(ParamFloat<px4::params::RC_TRANS_TH>) _param_rc_trans_th,
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(ParamFloat<px4::params::RC_GEAR_TH>) _param_rc_gear_th,
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(ParamFloat<px4::params::RC_RETURN_TH>) _param_rc_return_th,
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(ParamInt<px4::params::RC_CHAN_CNT>) _param_rc_chan_cnt
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)
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};
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} /* namespace RCUpdate */
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