mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-26 12:00:35 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
106 lines
3.8 KiB
C++
106 lines
3.8 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_platform_common/posix.h>
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#include <px4_platform_common/time.h>
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#include <px4_platform_common/defines.h>
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#include "rc_calibration.h"
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#include "commander_helper.h"
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#include <uORB/Subscription.hpp>
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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 <parameters/param.h>
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#include <systemlib/err.h>
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int do_trim_calibration(orb_advert_t *mavlink_log_pub)
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{
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uORB::Subscription sub_man{ORB_ID(manual_control_setpoint)};
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px4_usleep(400000);
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manual_control_setpoint_s sp{};
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bool changed = sub_man.updated();
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if (!changed) {
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mavlink_log_critical(mavlink_log_pub, "no inputs, aborting");
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return PX4_ERROR;
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}
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sub_man.copy(&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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if (p1r != 0 || p2r != 0 || p3r != 0) {
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mavlink_log_critical(mavlink_log_pub, "TRIM: PARAM SET FAIL");
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return PX4_ERROR;
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}
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mavlink_log_info(mavlink_log_pub, "trim cal done");
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return PX4_OK;
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}
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