mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
sensors: break off RC handling into its own class
This commit is contained in:
Beat Küng
Lorenz Meier
@@ -38,6 +38,7 @@ px4_add_module(
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STACK_MAIN 1300
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COMPILE_FLAGS
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SRCS
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rc_update.cpp
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sensors.cpp
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sensors_init.cpp
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212
src/modules/sensors/parameters.h
Normal file
212
src/modules/sensors/parameters.h
Normal file
@@ -0,0 +1,212 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 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
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* 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 parameters.h
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*
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* defines the list of parameters that are used within the sensors module
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*
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* @author Beat Kueng <beat-kueng@gmx.net>
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*/
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#include <drivers/drv_rc_input.h>
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#include <systemlib/param/param.h>
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#include <uORB/topics/rc_parameter_map.h>
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namespace sensors
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{
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static const unsigned RC_MAX_CHAN_COUNT =
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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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float min[RC_MAX_CHAN_COUNT];
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float trim[RC_MAX_CHAN_COUNT];
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float max[RC_MAX_CHAN_COUNT];
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float rev[RC_MAX_CHAN_COUNT];
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float dz[RC_MAX_CHAN_COUNT];
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float scaling_factor[RC_MAX_CHAN_COUNT];
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float diff_pres_offset_pa;
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float diff_pres_analog_scale;
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int board_rotation;
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float board_offset[3];
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int rc_map_roll;
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int rc_map_pitch;
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int rc_map_yaw;
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int rc_map_throttle;
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int rc_map_failsafe;
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int rc_map_mode_sw;
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int rc_map_return_sw;
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int rc_map_rattitude_sw;
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int rc_map_posctl_sw;
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int rc_map_loiter_sw;
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int rc_map_acro_sw;
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int rc_map_offboard_sw;
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int rc_map_kill_sw;
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int rc_map_trans_sw;
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int rc_map_gear_sw;
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int rc_map_flaps;
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int rc_map_aux1;
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int rc_map_aux2;
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int rc_map_aux3;
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int rc_map_aux4;
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int rc_map_aux5;
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int rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
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int rc_map_flightmode;
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int32_t rc_fails_thr;
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float rc_assist_th;
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float rc_auto_th;
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float rc_rattitude_th;
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float rc_posctl_th;
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float rc_return_th;
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float rc_loiter_th;
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float rc_acro_th;
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float rc_offboard_th;
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float rc_killswitch_th;
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float rc_trans_th;
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float rc_gear_th;
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bool rc_assist_inv;
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bool rc_auto_inv;
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bool rc_rattitude_inv;
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bool rc_posctl_inv;
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bool rc_return_inv;
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bool rc_loiter_inv;
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bool rc_acro_inv;
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bool rc_offboard_inv;
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bool rc_killswitch_inv;
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bool rc_trans_inv;
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bool rc_gear_inv;
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float battery_voltage_scaling;
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float battery_current_scaling;
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float battery_current_offset;
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float battery_v_div;
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float battery_a_per_v;
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int32_t battery_source;
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float baro_qnh;
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float vibration_warning_threshold;
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};
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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 diff_pres_offset_pa;
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param_t diff_pres_analog_scale;
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param_t rc_map_roll;
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param_t rc_map_pitch;
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param_t rc_map_yaw;
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param_t rc_map_throttle;
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param_t rc_map_failsafe;
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param_t rc_map_mode_sw;
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param_t rc_map_return_sw;
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param_t rc_map_rattitude_sw;
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param_t rc_map_posctl_sw;
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param_t rc_map_loiter_sw;
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param_t rc_map_acro_sw;
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param_t rc_map_offboard_sw;
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param_t rc_map_kill_sw;
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param_t rc_map_trans_sw;
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param_t rc_map_gear_sw;
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param_t rc_map_flaps;
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param_t rc_map_aux1;
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param_t rc_map_aux2;
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param_t rc_map_aux3;
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param_t rc_map_aux4;
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param_t rc_map_aux5;
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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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param_t rc_map_flightmode;
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param_t rc_fails_thr;
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param_t rc_assist_th;
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param_t rc_auto_th;
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param_t rc_rattitude_th;
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param_t rc_posctl_th;
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param_t rc_return_th;
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param_t rc_loiter_th;
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param_t rc_acro_th;
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param_t rc_offboard_th;
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param_t rc_killswitch_th;
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param_t rc_trans_th;
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param_t rc_gear_th;
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param_t battery_voltage_scaling;
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param_t battery_current_scaling;
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param_t battery_current_offset;
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param_t battery_v_div;
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param_t battery_a_per_v;
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param_t battery_source;
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param_t board_rotation;
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param_t board_offset[3];
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param_t baro_qnh;
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param_t vibe_thresh; /**< vibration threshold */
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};
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} /* namespace sensors */
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451
src/modules/sensors/rc_update.cpp
Normal file
451
src/modules/sensors/rc_update.cpp
Normal file
@@ -0,0 +1,451 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 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
|
||||
* are met:
|
||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* 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_update.cpp
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*
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* @author Beat Kueng <beat-kueng@gmx.net>
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*/
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#include "rc_update.h"
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#include <uORB/uORB.h>
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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 <string.h>
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#include <errno.h>
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using namespace sensors;
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RCUpdate::RCUpdate(const Parameters ¶meters)
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: _parameters(parameters)
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{
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memset(&_rc, 0, sizeof(_rc));
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memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map));
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memset(&_param_rc_values, 0, sizeof(_param_rc_values));
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}
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int RCUpdate::init()
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{
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_rc_sub = orb_subscribe(ORB_ID(input_rc));
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if (_rc_sub < 0) {
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return -errno;
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}
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_rc_parameter_map_sub = orb_subscribe(ORB_ID(rc_parameter_map));
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if (_rc_parameter_map_sub < 0) {
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return -errno;
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}
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return 0;
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}
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void RCUpdate::deinit()
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{
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orb_unsubscribe(_rc_sub);
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orb_unsubscribe(_rc_parameter_map_sub);
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}
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void RCUpdate::update_rc_functions()
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{
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/* update RC function mappings */
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE] = _parameters.rc_map_rattitude_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _parameters.rc_map_kill_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _parameters.rc_map_trans_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_GEAR] = _parameters.rc_map_gear_sw - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
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for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
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_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
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}
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}
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void
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RCUpdate::rc_parameter_map_poll(ParameterHandles ¶meter_handles, bool forced)
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{
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bool map_updated;
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orb_check(_rc_parameter_map_sub, &map_updated);
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if (map_updated) {
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orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_rc_parameter_map);
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/* update parameter handles to which the RC channels are mapped */
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for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
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if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
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/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
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* or no request to map this channel to a param has been sent via mavlink
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*/
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continue;
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}
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/* Set the handle by index if the index is set, otherwise use the id */
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if (_rc_parameter_map.param_index[i] >= 0) {
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parameter_handles.rc_param[i] = param_for_used_index((unsigned)_rc_parameter_map.param_index[i]);
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} else {
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parameter_handles.rc_param[i] = param_find(&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)]);
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}
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}
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PX4_DEBUG("rc to parameter map updated");
|
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for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
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PX4_DEBUG("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f",
|
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i,
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&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)],
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(double)_rc_parameter_map.scale[i],
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(double)_rc_parameter_map.value0[i],
|
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(double)_rc_parameter_map.value_min[i],
|
||||
(double)_rc_parameter_map.value_max[i]
|
||||
);
|
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}
|
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}
|
||||
}
|
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|
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float
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RCUpdate::get_rc_value(uint8_t func, float min_value, float max_value)
|
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{
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if (_rc.function[func] >= 0) {
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float value = _rc.channels[_rc.function[func]];
|
||||
|
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if (value < min_value) {
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return min_value;
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|
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} else if (value > max_value) {
|
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return max_value;
|
||||
|
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} else {
|
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return value;
|
||||
}
|
||||
|
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} else {
|
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return 0.0f;
|
||||
}
|
||||
}
|
||||
|
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switch_pos_t
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RCUpdate::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv)
|
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{
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if (_rc.function[func] >= 0) {
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float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
|
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|
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if (on_inv ? value < on_th : value > on_th) {
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return manual_control_setpoint_s::SWITCH_POS_ON;
|
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||||
} else if (mid_inv ? value < mid_th : value > mid_th) {
|
||||
return manual_control_setpoint_s::SWITCH_POS_MIDDLE;
|
||||
|
||||
} else {
|
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return manual_control_setpoint_s::SWITCH_POS_OFF;
|
||||
}
|
||||
|
||||
} else {
|
||||
return manual_control_setpoint_s::SWITCH_POS_NONE;
|
||||
}
|
||||
}
|
||||
|
||||
switch_pos_t
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RCUpdate::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
|
||||
{
|
||||
if (_rc.function[func] >= 0) {
|
||||
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
|
||||
|
||||
if (on_inv ? value < on_th : value > on_th) {
|
||||
return manual_control_setpoint_s::SWITCH_POS_ON;
|
||||
|
||||
} else {
|
||||
return manual_control_setpoint_s::SWITCH_POS_OFF;
|
||||
}
|
||||
|
||||
} else {
|
||||
return manual_control_setpoint_s::SWITCH_POS_NONE;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
RCUpdate::set_params_from_rc(const ParameterHandles ¶meter_handles)
|
||||
{
|
||||
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
|
||||
if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
|
||||
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
|
||||
* or no request to map this channel to a param has been sent via mavlink
|
||||
*/
|
||||
continue;
|
||||
}
|
||||
|
||||
float rc_val = get_rc_value((rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0);
|
||||
|
||||
/* Check if the value has changed,
|
||||
* maybe we need to introduce a more aggressive limit here */
|
||||
if (rc_val > _param_rc_values[i] + FLT_EPSILON || rc_val < _param_rc_values[i] - FLT_EPSILON) {
|
||||
_param_rc_values[i] = rc_val;
|
||||
float param_val = math::constrain(
|
||||
_rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val,
|
||||
_rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]);
|
||||
param_set(parameter_handles.rc_param[i], ¶m_val);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
RCUpdate::rc_poll(const ParameterHandles ¶meter_handles)
|
||||
{
|
||||
bool rc_updated;
|
||||
orb_check(_rc_sub, &rc_updated);
|
||||
|
||||
if (rc_updated) {
|
||||
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
|
||||
struct rc_input_values rc_input;
|
||||
|
||||
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
|
||||
|
||||
/* detect RC signal loss */
|
||||
bool signal_lost;
|
||||
|
||||
/* check flags and require at least four channels to consider the signal valid */
|
||||
if (rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4) {
|
||||
/* signal is lost or no enough channels */
|
||||
signal_lost = true;
|
||||
|
||||
} else {
|
||||
/* signal looks good */
|
||||
signal_lost = false;
|
||||
|
||||
/* check failsafe */
|
||||
int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle
|
||||
|
||||
if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping
|
||||
fs_ch = _parameters.rc_map_failsafe - 1;
|
||||
}
|
||||
|
||||
if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) {
|
||||
/* failsafe configured */
|
||||
if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) ||
|
||||
(_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) {
|
||||
/* failsafe triggered, signal is lost by receiver */
|
||||
signal_lost = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
unsigned channel_limit = rc_input.channel_count;
|
||||
|
||||
if (channel_limit > RC_MAX_CHAN_COUNT) {
|
||||
channel_limit = RC_MAX_CHAN_COUNT;
|
||||
}
|
||||
|
||||
/* read out and scale values from raw message even if signal is invalid */
|
||||
for (unsigned int i = 0; i < channel_limit; i++) {
|
||||
|
||||
/*
|
||||
* 1) Constrain to min/max values, as later processing depends on bounds.
|
||||
*/
|
||||
if (rc_input.values[i] < _parameters.min[i]) {
|
||||
rc_input.values[i] = _parameters.min[i];
|
||||
}
|
||||
|
||||
if (rc_input.values[i] > _parameters.max[i]) {
|
||||
rc_input.values[i] = _parameters.max[i];
|
||||
}
|
||||
|
||||
/*
|
||||
* 2) Scale around the mid point differently for lower and upper range.
|
||||
*
|
||||
* This is necessary as they don't share the same endpoints and slope.
|
||||
*
|
||||
* First normalize to 0..1 range with correct sign (below or above center),
|
||||
* the total range is 2 (-1..1).
|
||||
* If center (trim) == min, scale to 0..1, if center (trim) == max,
|
||||
* scale to -1..0.
|
||||
*
|
||||
* As the min and max bounds were enforced in step 1), division by zero
|
||||
* cannot occur, as for the case of center == min or center == max the if
|
||||
* statement is mutually exclusive with the arithmetic NaN case.
|
||||
*
|
||||
* DO NOT REMOVE OR ALTER STEP 1!
|
||||
*/
|
||||
if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
|
||||
_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(
|
||||
_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
|
||||
|
||||
} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
|
||||
_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(
|
||||
_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
|
||||
|
||||
} else {
|
||||
/* in the configured dead zone, output zero */
|
||||
_rc.channels[i] = 0.0f;
|
||||
}
|
||||
|
||||
_rc.channels[i] *= _parameters.rev[i];
|
||||
|
||||
/* handle any parameter-induced blowups */
|
||||
if (!PX4_ISFINITE(_rc.channels[i])) {
|
||||
_rc.channels[i] = 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
_rc.channel_count = rc_input.channel_count;
|
||||
_rc.rssi = rc_input.rssi;
|
||||
_rc.signal_lost = signal_lost;
|
||||
_rc.timestamp = rc_input.timestamp_last_signal;
|
||||
_rc.frame_drop_count = rc_input.rc_lost_frame_count;
|
||||
|
||||
/* publish rc_channels topic even if signal is invalid, for debug */
|
||||
int instance;
|
||||
orb_publish_auto(ORB_ID(rc_channels), &_rc_pub, &_rc, &instance, ORB_PRIO_DEFAULT);
|
||||
|
||||
/* only publish manual control if the signal is still present */
|
||||
if (!signal_lost) {
|
||||
|
||||
/* initialize manual setpoint */
|
||||
struct manual_control_setpoint_s manual = {};
|
||||
/* set mode slot to unassigned */
|
||||
manual.mode_slot = manual_control_setpoint_s::MODE_SLOT_NONE;
|
||||
/* set the timestamp to the last signal time */
|
||||
manual.timestamp = rc_input.timestamp_last_signal;
|
||||
|
||||
/* limit controls */
|
||||
manual.y = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
|
||||
manual.x = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
|
||||
manual.r = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
|
||||
manual.z = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
|
||||
manual.flaps = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
|
||||
manual.aux1 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
|
||||
manual.aux2 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
|
||||
manual.aux3 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
|
||||
manual.aux4 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
|
||||
manual.aux5 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
|
||||
|
||||
if (_parameters.rc_map_flightmode > 0) {
|
||||
|
||||
/* the number of valid slots equals the index of the max marker minus one */
|
||||
const int num_slots = manual_control_setpoint_s::MODE_SLOT_MAX;
|
||||
|
||||
/* the half width of the range of a slot is the total range
|
||||
* divided by the number of slots, again divided by two
|
||||
*/
|
||||
const float slot_width_half = 2.0f / num_slots / 2.0f;
|
||||
|
||||
/* min is -1, max is +1, range is 2. We offset below min and max */
|
||||
const float slot_min = -1.0f - 0.05f;
|
||||
const float slot_max = 1.0f + 0.05f;
|
||||
|
||||
/* the slot gets mapped by first normalizing into a 0..1 interval using min
|
||||
* and max. Then the right slot is obtained by multiplying with the number of
|
||||
* slots. And finally we add half a slot width to ensure that integer rounding
|
||||
* will take us to the correct final index.
|
||||
*/
|
||||
manual.mode_slot = (((((_rc.channels[_parameters.rc_map_flightmode - 1] - slot_min) * num_slots) + slot_width_half) /
|
||||
(slot_max - slot_min)) + (1.0f / num_slots));
|
||||
|
||||
if (manual.mode_slot >= num_slots) {
|
||||
manual.mode_slot = num_slots - 1;
|
||||
}
|
||||
}
|
||||
|
||||
/* mode switches */
|
||||
manual.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th,
|
||||
_parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
|
||||
manual.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE,
|
||||
_parameters.rc_rattitude_th,
|
||||
_parameters.rc_rattitude_inv);
|
||||
manual.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th,
|
||||
_parameters.rc_posctl_inv);
|
||||
manual.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th,
|
||||
_parameters.rc_return_inv);
|
||||
manual.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th,
|
||||
_parameters.rc_loiter_inv);
|
||||
manual.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th,
|
||||
_parameters.rc_acro_inv);
|
||||
manual.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD,
|
||||
_parameters.rc_offboard_th, _parameters.rc_offboard_inv);
|
||||
manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH,
|
||||
_parameters.rc_killswitch_th, _parameters.rc_killswitch_inv);
|
||||
manual.transition_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION,
|
||||
_parameters.rc_trans_th, _parameters.rc_trans_inv);
|
||||
manual.gear_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_GEAR,
|
||||
_parameters.rc_gear_th, _parameters.rc_gear_inv);
|
||||
|
||||
/* publish manual_control_setpoint topic */
|
||||
orb_publish_auto(ORB_ID(manual_control_setpoint), &_manual_control_pub, &manual, &instance,
|
||||
ORB_PRIO_DEFAULT);
|
||||
|
||||
/* copy from mapped manual control to control group 3 */
|
||||
struct actuator_controls_s actuator_group_3 = {};
|
||||
|
||||
actuator_group_3.timestamp = rc_input.timestamp_last_signal;
|
||||
|
||||
actuator_group_3.control[0] = manual.y;
|
||||
actuator_group_3.control[1] = manual.x;
|
||||
actuator_group_3.control[2] = manual.r;
|
||||
actuator_group_3.control[3] = manual.z;
|
||||
actuator_group_3.control[4] = manual.flaps;
|
||||
actuator_group_3.control[5] = manual.aux1;
|
||||
actuator_group_3.control[6] = manual.aux2;
|
||||
actuator_group_3.control[7] = manual.aux3;
|
||||
|
||||
/* publish actuator_controls_3 topic */
|
||||
orb_publish_auto(ORB_ID(actuator_controls_3), &_actuator_group_3_pub, &actuator_group_3, &instance,
|
||||
ORB_PRIO_DEFAULT);
|
||||
|
||||
/* Update parameters from RC Channels (tuning with RC) if activated */
|
||||
if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1e6) {
|
||||
set_params_from_rc(parameter_handles);
|
||||
_last_rc_to_param_map_time = hrt_absolute_time();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
132
src/modules/sensors/rc_update.h
Normal file
132
src/modules/sensors/rc_update.h
Normal file
@@ -0,0 +1,132 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
/**
|
||||
* @file rc_update.h
|
||||
*
|
||||
* @author Beat Kueng <beat-kueng@gmx.net>
|
||||
*/
|
||||
|
||||
#include "parameters.h"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <mathlib/mathlib.h>
|
||||
|
||||
namespace sensors
|
||||
{
|
||||
|
||||
/**
|
||||
** class RCUpdate
|
||||
*
|
||||
* Handling of RC updates
|
||||
*/
|
||||
class RCUpdate
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @param parameters parameter values. These do not have to be initialized when constructing this object.
|
||||
* Only when calling init(), they have to be initialized.
|
||||
*/
|
||||
RCUpdate(const Parameters ¶meters);
|
||||
|
||||
/**
|
||||
* initialize subscriptions etc.
|
||||
* @return 0 on success, <0 otherwise
|
||||
*/
|
||||
int init();
|
||||
|
||||
/**
|
||||
* deinitialize the object (we cannot use the destructor because it is called on the wrong thread)
|
||||
*/
|
||||
void deinit();
|
||||
|
||||
/**
|
||||
* Check for changes in rc_parameter_map
|
||||
*/
|
||||
void rc_parameter_map_poll(ParameterHandles ¶meter_handles, bool forced = false);
|
||||
|
||||
/**
|
||||
* update the RC functions. Call this when the parameters change.
|
||||
*/
|
||||
void update_rc_functions();
|
||||
|
||||
/**
|
||||
* Gather and publish RC input data.
|
||||
*/
|
||||
void rc_poll(const ParameterHandles ¶meter_handles);
|
||||
|
||||
private:
|
||||
|
||||
/**
|
||||
* Get and limit value for specified RC function. Returns NAN if not mapped.
|
||||
*/
|
||||
float get_rc_value(uint8_t func, float min_value, float max_value);
|
||||
|
||||
/**
|
||||
* Get switch position for specified function.
|
||||
*/
|
||||
switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
|
||||
switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
|
||||
|
||||
/**
|
||||
* Update parameters from RC channels if the functionality is activated and the
|
||||
* input has changed since the last update
|
||||
*
|
||||
* @param
|
||||
*/
|
||||
void set_params_from_rc(const ParameterHandles ¶meter_handles);
|
||||
|
||||
|
||||
int _rc_sub = -1; /**< raw rc channels data subscription */
|
||||
int _rc_parameter_map_sub = -1; /**< rc parameter map subscription */
|
||||
|
||||
orb_advert_t _rc_pub = nullptr; /**< raw r/c control topic */
|
||||
orb_advert_t _manual_control_pub = nullptr; /**< manual control signal topic */
|
||||
orb_advert_t _actuator_group_3_pub = nullptr;/**< manual control as actuator topic */
|
||||
|
||||
struct rc_channels_s _rc; /**< r/c channel data */
|
||||
|
||||
struct rc_parameter_map_s _rc_parameter_map;
|
||||
float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< parameter values for RC control */
|
||||
|
||||
const Parameters &_parameters;
|
||||
|
||||
hrt_abstime _last_rc_to_param_map_time = 0;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
} /* namespace sensors */
|
||||
@@ -90,8 +90,6 @@
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
#include <uORB/topics/rc_channels.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
@@ -104,8 +102,11 @@
|
||||
#include <DevMgr.hpp>
|
||||
|
||||
#include "sensors_init.h"
|
||||
#include "parameters.h"
|
||||
#include "rc_update.h"
|
||||
|
||||
using namespace DriverFramework;
|
||||
using namespace sensors;
|
||||
|
||||
/**
|
||||
* Analog layout:
|
||||
@@ -171,33 +172,6 @@ public:
|
||||
void print_status();
|
||||
|
||||
private:
|
||||
static const unsigned _rc_max_chan_count =
|
||||
input_rc_s::RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
|
||||
|
||||
/**
|
||||
* Get and limit value for specified RC function. Returns NAN if not mapped.
|
||||
*/
|
||||
float get_rc_value(uint8_t func, float min_value, float max_value);
|
||||
|
||||
/**
|
||||
* Get switch position for specified function.
|
||||
*/
|
||||
switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
|
||||
switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
|
||||
|
||||
/**
|
||||
* Update parameters from RC channels if the functionality is activated and the
|
||||
* input has changed since the last update
|
||||
*
|
||||
* @param
|
||||
*/
|
||||
void set_params_from_rc();
|
||||
|
||||
/**
|
||||
* Gather and publish RC input data.
|
||||
*/
|
||||
void rc_poll();
|
||||
|
||||
/* XXX should not be here - should be own driver */
|
||||
DevHandle _h_adc; /**< ADC driver handle */
|
||||
hrt_abstime _last_adc; /**< last time we took input from the ADC */
|
||||
@@ -235,17 +209,11 @@ private:
|
||||
SensorData _baro;
|
||||
|
||||
int _actuator_ctrl_0_sub; /**< attitude controls sub */
|
||||
int _rc_sub; /**< raw rc channels data subscription */
|
||||
int _diff_pres_sub; /**< raw differential pressure subscription */
|
||||
int _vcontrol_mode_sub; /**< vehicle control mode subscription */
|
||||
int _params_sub; /**< notification of parameter updates */
|
||||
int _rc_parameter_map_sub; /**< rc parameter map subscription */
|
||||
int _manual_control_sub; /**< notification of manual control updates */
|
||||
|
||||
orb_advert_t _sensor_pub; /**< combined sensor data topic */
|
||||
orb_advert_t _manual_control_pub; /**< manual control signal topic */
|
||||
orb_advert_t _actuator_group_3_pub; /**< manual control as actuator topic */
|
||||
orb_advert_t _rc_pub; /**< raw r/c control topic */
|
||||
orb_advert_t _battery_pub; /**< battery status */
|
||||
orb_advert_t _airspeed_pub; /**< airspeed */
|
||||
orb_advert_t _diff_pres_pub; /**< differential_pressure */
|
||||
@@ -256,12 +224,9 @@ private:
|
||||
|
||||
DataValidator _airspeed_validator; /**< data validator to monitor airspeed */
|
||||
|
||||
struct rc_channels_s _rc; /**< r/c channel data */
|
||||
struct battery_status_s _battery_status; /**< battery status */
|
||||
struct differential_pressure_s _diff_pres;
|
||||
struct airspeed_s _airspeed;
|
||||
struct rc_parameter_map_s _rc_parameter_map;
|
||||
float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< parameter values for RC control */
|
||||
|
||||
math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
|
||||
math::Matrix<3, 3> _mag_rotation[3]; /**< rotation matrix for the orientation that the external mag0 is mounted */
|
||||
@@ -281,159 +246,10 @@ private:
|
||||
hrt_abstime _vibration_warning_timestamp;
|
||||
bool _vibration_warning;
|
||||
|
||||
struct {
|
||||
float min[_rc_max_chan_count];
|
||||
float trim[_rc_max_chan_count];
|
||||
float max[_rc_max_chan_count];
|
||||
float rev[_rc_max_chan_count];
|
||||
float dz[_rc_max_chan_count];
|
||||
float scaling_factor[_rc_max_chan_count];
|
||||
Parameters _parameters; /**< local copies of interesting parameters */
|
||||
ParameterHandles _parameter_handles; /**< handles for interesting parameters */
|
||||
|
||||
float diff_pres_offset_pa;
|
||||
float diff_pres_analog_scale;
|
||||
|
||||
int board_rotation;
|
||||
|
||||
float board_offset[3];
|
||||
|
||||
int rc_map_roll;
|
||||
int rc_map_pitch;
|
||||
int rc_map_yaw;
|
||||
int rc_map_throttle;
|
||||
int rc_map_failsafe;
|
||||
|
||||
int rc_map_mode_sw;
|
||||
int rc_map_return_sw;
|
||||
int rc_map_rattitude_sw;
|
||||
int rc_map_posctl_sw;
|
||||
int rc_map_loiter_sw;
|
||||
int rc_map_acro_sw;
|
||||
int rc_map_offboard_sw;
|
||||
int rc_map_kill_sw;
|
||||
int rc_map_trans_sw;
|
||||
int rc_map_gear_sw;
|
||||
|
||||
int rc_map_flaps;
|
||||
|
||||
int rc_map_aux1;
|
||||
int rc_map_aux2;
|
||||
int rc_map_aux3;
|
||||
int rc_map_aux4;
|
||||
int rc_map_aux5;
|
||||
|
||||
int rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
|
||||
|
||||
int rc_map_flightmode;
|
||||
|
||||
int32_t rc_fails_thr;
|
||||
float rc_assist_th;
|
||||
float rc_auto_th;
|
||||
float rc_rattitude_th;
|
||||
float rc_posctl_th;
|
||||
float rc_return_th;
|
||||
float rc_loiter_th;
|
||||
float rc_acro_th;
|
||||
float rc_offboard_th;
|
||||
float rc_killswitch_th;
|
||||
float rc_trans_th;
|
||||
float rc_gear_th;
|
||||
bool rc_assist_inv;
|
||||
bool rc_auto_inv;
|
||||
bool rc_rattitude_inv;
|
||||
bool rc_posctl_inv;
|
||||
bool rc_return_inv;
|
||||
bool rc_loiter_inv;
|
||||
bool rc_acro_inv;
|
||||
bool rc_offboard_inv;
|
||||
bool rc_killswitch_inv;
|
||||
bool rc_trans_inv;
|
||||
bool rc_gear_inv;
|
||||
|
||||
float battery_voltage_scaling;
|
||||
float battery_current_scaling;
|
||||
float battery_current_offset;
|
||||
float battery_v_div;
|
||||
float battery_a_per_v;
|
||||
int32_t battery_source;
|
||||
|
||||
float baro_qnh;
|
||||
|
||||
float vibration_warning_threshold;
|
||||
|
||||
} _parameters; /**< local copies of interesting parameters */
|
||||
|
||||
struct {
|
||||
param_t min[_rc_max_chan_count];
|
||||
param_t trim[_rc_max_chan_count];
|
||||
param_t max[_rc_max_chan_count];
|
||||
param_t rev[_rc_max_chan_count];
|
||||
param_t dz[_rc_max_chan_count];
|
||||
|
||||
param_t diff_pres_offset_pa;
|
||||
param_t diff_pres_analog_scale;
|
||||
|
||||
param_t rc_map_roll;
|
||||
param_t rc_map_pitch;
|
||||
param_t rc_map_yaw;
|
||||
param_t rc_map_throttle;
|
||||
param_t rc_map_failsafe;
|
||||
|
||||
param_t rc_map_mode_sw;
|
||||
param_t rc_map_return_sw;
|
||||
param_t rc_map_rattitude_sw;
|
||||
param_t rc_map_posctl_sw;
|
||||
param_t rc_map_loiter_sw;
|
||||
param_t rc_map_acro_sw;
|
||||
param_t rc_map_offboard_sw;
|
||||
param_t rc_map_kill_sw;
|
||||
param_t rc_map_trans_sw;
|
||||
param_t rc_map_gear_sw;
|
||||
|
||||
param_t rc_map_flaps;
|
||||
|
||||
param_t rc_map_aux1;
|
||||
param_t rc_map_aux2;
|
||||
param_t rc_map_aux3;
|
||||
param_t rc_map_aux4;
|
||||
param_t rc_map_aux5;
|
||||
|
||||
param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
|
||||
param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< param handles for the parameters which are bound
|
||||
to a RC channel, equivalent float values in the
|
||||
_parameters struct are not existing
|
||||
because these parameters are never read. */
|
||||
|
||||
param_t rc_map_flightmode;
|
||||
|
||||
param_t rc_fails_thr;
|
||||
param_t rc_assist_th;
|
||||
param_t rc_auto_th;
|
||||
param_t rc_rattitude_th;
|
||||
param_t rc_posctl_th;
|
||||
param_t rc_return_th;
|
||||
param_t rc_loiter_th;
|
||||
param_t rc_acro_th;
|
||||
param_t rc_offboard_th;
|
||||
param_t rc_killswitch_th;
|
||||
param_t rc_trans_th;
|
||||
param_t rc_gear_th;
|
||||
|
||||
param_t battery_voltage_scaling;
|
||||
param_t battery_current_scaling;
|
||||
param_t battery_current_offset;
|
||||
param_t battery_v_div;
|
||||
param_t battery_a_per_v;
|
||||
param_t battery_source;
|
||||
|
||||
param_t board_rotation;
|
||||
|
||||
param_t board_offset[3];
|
||||
|
||||
param_t baro_qnh;
|
||||
|
||||
param_t vibe_thresh; /**< vibration threshold */
|
||||
|
||||
} _parameter_handles; /**< handles for interesting parameters */
|
||||
RCUpdate _rc_update;
|
||||
|
||||
|
||||
void init_sensor_class(const struct orb_metadata *meta, SensorData &sensor_data);
|
||||
@@ -528,11 +344,6 @@ private:
|
||||
*/
|
||||
bool apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id);
|
||||
|
||||
/**
|
||||
* Check for changes in rc_parameter_map
|
||||
*/
|
||||
void rc_parameter_map_poll(bool forced = false);
|
||||
|
||||
/**
|
||||
* Poll the ADC and update readings to suit.
|
||||
*
|
||||
@@ -589,17 +400,11 @@ Sensors::Sensors() :
|
||||
_hil_enabled(false),
|
||||
_publishing(true),
|
||||
_armed(false),
|
||||
_rc_sub(-1),
|
||||
_vcontrol_mode_sub(-1),
|
||||
_params_sub(-1),
|
||||
_rc_parameter_map_sub(-1),
|
||||
_manual_control_sub(-1),
|
||||
|
||||
/* publications */
|
||||
_sensor_pub(nullptr),
|
||||
_manual_control_pub(nullptr),
|
||||
_actuator_group_3_pub(nullptr),
|
||||
_rc_pub(nullptr),
|
||||
_battery_pub(nullptr),
|
||||
_airspeed_pub(nullptr),
|
||||
_diff_pres_pub(nullptr),
|
||||
@@ -610,22 +415,21 @@ Sensors::Sensors() :
|
||||
_loop_perf(perf_alloc(PC_ELAPSED, "sensors")),
|
||||
_airspeed_validator(),
|
||||
|
||||
_param_rc_values{},
|
||||
_board_rotation{},
|
||||
_mag_rotation{},
|
||||
|
||||
_last_best_baro_pressure(0.f),
|
||||
|
||||
_vibration_warning_timestamp(0),
|
||||
_vibration_warning(false)
|
||||
_vibration_warning(false),
|
||||
|
||||
_rc_update(_parameters)
|
||||
{
|
||||
_baro.voter.set_timeout(300000);
|
||||
_mag.voter.set_timeout(300000);
|
||||
|
||||
memset(&_rc, 0, sizeof(_rc));
|
||||
memset(&_diff_pres, 0, sizeof(_diff_pres));
|
||||
memset(&_parameters, 0, sizeof(_parameters));
|
||||
memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map));
|
||||
memset(&_last_sensor_data, 0, sizeof(_last_sensor_data));
|
||||
memset(&_last_accel_timestamp, 0, sizeof(_last_accel_timestamp));
|
||||
memset(&_last_mag_timestamp, 0, sizeof(_last_mag_timestamp));
|
||||
@@ -634,7 +438,7 @@ Sensors::Sensors() :
|
||||
memset(&_gyro_diff, 0, sizeof(_gyro_diff));
|
||||
|
||||
/* basic r/c parameters */
|
||||
for (unsigned i = 0; i < _rc_max_chan_count; i++) {
|
||||
for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) {
|
||||
char nbuf[16];
|
||||
|
||||
/* min values */
|
||||
@@ -843,7 +647,7 @@ Sensors::parameters_update()
|
||||
int ret = PX4_OK;
|
||||
|
||||
/* rc values */
|
||||
for (unsigned int i = 0; i < _rc_max_chan_count; i++) {
|
||||
for (unsigned int i = 0; i < RC_MAX_CHAN_COUNT; i++) {
|
||||
|
||||
param_get(_parameter_handles.min[i], &(_parameters.min[i]));
|
||||
param_get(_parameter_handles.trim[i], &(_parameters.trim[i]));
|
||||
@@ -987,34 +791,7 @@ Sensors::parameters_update()
|
||||
_parameters.rc_gear_inv = (_parameters.rc_gear_th < 0);
|
||||
_parameters.rc_gear_th = fabs(_parameters.rc_gear_th);
|
||||
|
||||
/* update RC function mappings */
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
|
||||
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE] = _parameters.rc_map_rattitude_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _parameters.rc_map_kill_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _parameters.rc_map_trans_sw - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_GEAR] = _parameters.rc_map_gear_sw - 1;
|
||||
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
|
||||
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
|
||||
|
||||
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
|
||||
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
|
||||
}
|
||||
_rc_update.update_rc_functions();
|
||||
|
||||
/* Airspeed offset */
|
||||
param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa));
|
||||
@@ -1801,49 +1578,6 @@ Sensors::apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mca
|
||||
#endif
|
||||
}
|
||||
|
||||
void
|
||||
Sensors::rc_parameter_map_poll(bool forced)
|
||||
{
|
||||
bool map_updated;
|
||||
orb_check(_rc_parameter_map_sub, &map_updated);
|
||||
|
||||
if (map_updated) {
|
||||
orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_rc_parameter_map);
|
||||
|
||||
/* update parameter handles to which the RC channels are mapped */
|
||||
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
|
||||
if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
|
||||
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
|
||||
* or no request to map this channel to a param has been sent via mavlink
|
||||
*/
|
||||
continue;
|
||||
}
|
||||
|
||||
/* Set the handle by index if the index is set, otherwise use the id */
|
||||
if (_rc_parameter_map.param_index[i] >= 0) {
|
||||
_parameter_handles.rc_param[i] = param_for_used_index((unsigned)_rc_parameter_map.param_index[i]);
|
||||
|
||||
} else {
|
||||
_parameter_handles.rc_param[i] = param_find(&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)]);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
PX4_DEBUG("rc to parameter map updated");
|
||||
|
||||
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
|
||||
PX4_DEBUG("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f",
|
||||
i,
|
||||
&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)],
|
||||
(double)_rc_parameter_map.scale[i],
|
||||
(double)_rc_parameter_map.value0[i],
|
||||
(double)_rc_parameter_map.value_min[i],
|
||||
(double)_rc_parameter_map.value_max[i]
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
Sensors::adc_poll(struct sensor_combined_s &raw)
|
||||
{
|
||||
@@ -1930,304 +1664,6 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
|
||||
}
|
||||
}
|
||||
|
||||
float
|
||||
Sensors::get_rc_value(uint8_t func, float min_value, float max_value)
|
||||
{
|
||||
if (_rc.function[func] >= 0) {
|
||||
float value = _rc.channels[_rc.function[func]];
|
||||
|
||||
if (value < min_value) {
|
||||
return min_value;
|
||||
|
||||
} else if (value > max_value) {
|
||||
return max_value;
|
||||
|
||||
} else {
|
||||
return value;
|
||||
}
|
||||
|
||||
} else {
|
||||
return 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
switch_pos_t
|
||||
Sensors::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv)
|
||||
{
|
||||
if (_rc.function[func] >= 0) {
|
||||
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
|
||||
|
||||
if (on_inv ? value < on_th : value > on_th) {
|
||||
return manual_control_setpoint_s::SWITCH_POS_ON;
|
||||
|
||||
} else if (mid_inv ? value < mid_th : value > mid_th) {
|
||||
return manual_control_setpoint_s::SWITCH_POS_MIDDLE;
|
||||
|
||||
} else {
|
||||
return manual_control_setpoint_s::SWITCH_POS_OFF;
|
||||
}
|
||||
|
||||
} else {
|
||||
return manual_control_setpoint_s::SWITCH_POS_NONE;
|
||||
}
|
||||
}
|
||||
|
||||
switch_pos_t
|
||||
Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
|
||||
{
|
||||
if (_rc.function[func] >= 0) {
|
||||
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
|
||||
|
||||
if (on_inv ? value < on_th : value > on_th) {
|
||||
return manual_control_setpoint_s::SWITCH_POS_ON;
|
||||
|
||||
} else {
|
||||
return manual_control_setpoint_s::SWITCH_POS_OFF;
|
||||
}
|
||||
|
||||
} else {
|
||||
return manual_control_setpoint_s::SWITCH_POS_NONE;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
Sensors::set_params_from_rc()
|
||||
{
|
||||
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
|
||||
if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
|
||||
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
|
||||
* or no request to map this channel to a param has been sent via mavlink
|
||||
*/
|
||||
continue;
|
||||
}
|
||||
|
||||
float rc_val = get_rc_value((rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0);
|
||||
|
||||
/* Check if the value has changed,
|
||||
* maybe we need to introduce a more aggressive limit here */
|
||||
if (rc_val > _param_rc_values[i] + FLT_EPSILON || rc_val < _param_rc_values[i] - FLT_EPSILON) {
|
||||
_param_rc_values[i] = rc_val;
|
||||
float param_val = math::constrain(
|
||||
_rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val,
|
||||
_rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]);
|
||||
param_set(_parameter_handles.rc_param[i], ¶m_val);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
Sensors::rc_poll()
|
||||
{
|
||||
bool rc_updated;
|
||||
orb_check(_rc_sub, &rc_updated);
|
||||
|
||||
if (rc_updated) {
|
||||
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
|
||||
struct rc_input_values rc_input;
|
||||
|
||||
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
|
||||
|
||||
/* detect RC signal loss */
|
||||
bool signal_lost;
|
||||
|
||||
/* check flags and require at least four channels to consider the signal valid */
|
||||
if (rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4) {
|
||||
/* signal is lost or no enough channels */
|
||||
signal_lost = true;
|
||||
|
||||
} else {
|
||||
/* signal looks good */
|
||||
signal_lost = false;
|
||||
|
||||
/* check failsafe */
|
||||
int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle
|
||||
|
||||
if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping
|
||||
fs_ch = _parameters.rc_map_failsafe - 1;
|
||||
}
|
||||
|
||||
if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) {
|
||||
/* failsafe configured */
|
||||
if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) ||
|
||||
(_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) {
|
||||
/* failsafe triggered, signal is lost by receiver */
|
||||
signal_lost = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
unsigned channel_limit = rc_input.channel_count;
|
||||
|
||||
if (channel_limit > _rc_max_chan_count) {
|
||||
channel_limit = _rc_max_chan_count;
|
||||
}
|
||||
|
||||
/* read out and scale values from raw message even if signal is invalid */
|
||||
for (unsigned int i = 0; i < channel_limit; i++) {
|
||||
|
||||
/*
|
||||
* 1) Constrain to min/max values, as later processing depends on bounds.
|
||||
*/
|
||||
if (rc_input.values[i] < _parameters.min[i]) {
|
||||
rc_input.values[i] = _parameters.min[i];
|
||||
}
|
||||
|
||||
if (rc_input.values[i] > _parameters.max[i]) {
|
||||
rc_input.values[i] = _parameters.max[i];
|
||||
}
|
||||
|
||||
/*
|
||||
* 2) Scale around the mid point differently for lower and upper range.
|
||||
*
|
||||
* This is necessary as they don't share the same endpoints and slope.
|
||||
*
|
||||
* First normalize to 0..1 range with correct sign (below or above center),
|
||||
* the total range is 2 (-1..1).
|
||||
* If center (trim) == min, scale to 0..1, if center (trim) == max,
|
||||
* scale to -1..0.
|
||||
*
|
||||
* As the min and max bounds were enforced in step 1), division by zero
|
||||
* cannot occur, as for the case of center == min or center == max the if
|
||||
* statement is mutually exclusive with the arithmetic NaN case.
|
||||
*
|
||||
* DO NOT REMOVE OR ALTER STEP 1!
|
||||
*/
|
||||
if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
|
||||
_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(
|
||||
_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
|
||||
|
||||
} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
|
||||
_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(
|
||||
_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
|
||||
|
||||
} else {
|
||||
/* in the configured dead zone, output zero */
|
||||
_rc.channels[i] = 0.0f;
|
||||
}
|
||||
|
||||
_rc.channels[i] *= _parameters.rev[i];
|
||||
|
||||
/* handle any parameter-induced blowups */
|
||||
if (!PX4_ISFINITE(_rc.channels[i])) {
|
||||
_rc.channels[i] = 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
_rc.channel_count = rc_input.channel_count;
|
||||
_rc.rssi = rc_input.rssi;
|
||||
_rc.signal_lost = signal_lost;
|
||||
_rc.timestamp = rc_input.timestamp_last_signal;
|
||||
_rc.frame_drop_count = rc_input.rc_lost_frame_count;
|
||||
|
||||
/* publish rc_channels topic even if signal is invalid, for debug */
|
||||
int instance;
|
||||
orb_publish_auto(ORB_ID(rc_channels), &_rc_pub, &_rc, &instance, ORB_PRIO_DEFAULT);
|
||||
|
||||
/* only publish manual control if the signal is still present */
|
||||
if (!signal_lost) {
|
||||
|
||||
/* initialize manual setpoint */
|
||||
struct manual_control_setpoint_s manual = {};
|
||||
/* set mode slot to unassigned */
|
||||
manual.mode_slot = manual_control_setpoint_s::MODE_SLOT_NONE;
|
||||
/* set the timestamp to the last signal time */
|
||||
manual.timestamp = rc_input.timestamp_last_signal;
|
||||
|
||||
/* limit controls */
|
||||
manual.y = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
|
||||
manual.x = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
|
||||
manual.r = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
|
||||
manual.z = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
|
||||
manual.flaps = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
|
||||
manual.aux1 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
|
||||
manual.aux2 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
|
||||
manual.aux3 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
|
||||
manual.aux4 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
|
||||
manual.aux5 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
|
||||
|
||||
if (_parameters.rc_map_flightmode > 0) {
|
||||
|
||||
/* the number of valid slots equals the index of the max marker minus one */
|
||||
const int num_slots = manual_control_setpoint_s::MODE_SLOT_MAX;
|
||||
|
||||
/* the half width of the range of a slot is the total range
|
||||
* divided by the number of slots, again divided by two
|
||||
*/
|
||||
const float slot_width_half = 2.0f / num_slots / 2.0f;
|
||||
|
||||
/* min is -1, max is +1, range is 2. We offset below min and max */
|
||||
const float slot_min = -1.0f - 0.05f;
|
||||
const float slot_max = 1.0f + 0.05f;
|
||||
|
||||
/* the slot gets mapped by first normalizing into a 0..1 interval using min
|
||||
* and max. Then the right slot is obtained by multiplying with the number of
|
||||
* slots. And finally we add half a slot width to ensure that integer rounding
|
||||
* will take us to the correct final index.
|
||||
*/
|
||||
manual.mode_slot = (((((_rc.channels[_parameters.rc_map_flightmode - 1] - slot_min) * num_slots) + slot_width_half) /
|
||||
(slot_max - slot_min)) + (1.0f / num_slots));
|
||||
|
||||
if (manual.mode_slot >= num_slots) {
|
||||
manual.mode_slot = num_slots - 1;
|
||||
}
|
||||
}
|
||||
|
||||
/* mode switches */
|
||||
manual.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th,
|
||||
_parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
|
||||
manual.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE,
|
||||
_parameters.rc_rattitude_th,
|
||||
_parameters.rc_rattitude_inv);
|
||||
manual.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th,
|
||||
_parameters.rc_posctl_inv);
|
||||
manual.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th,
|
||||
_parameters.rc_return_inv);
|
||||
manual.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th,
|
||||
_parameters.rc_loiter_inv);
|
||||
manual.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th,
|
||||
_parameters.rc_acro_inv);
|
||||
manual.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD,
|
||||
_parameters.rc_offboard_th, _parameters.rc_offboard_inv);
|
||||
manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH,
|
||||
_parameters.rc_killswitch_th, _parameters.rc_killswitch_inv);
|
||||
manual.transition_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION,
|
||||
_parameters.rc_trans_th, _parameters.rc_trans_inv);
|
||||
manual.gear_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_GEAR,
|
||||
_parameters.rc_gear_th, _parameters.rc_gear_inv);
|
||||
|
||||
/* publish manual_control_setpoint topic */
|
||||
orb_publish_auto(ORB_ID(manual_control_setpoint), &_manual_control_pub, &manual, &instance,
|
||||
ORB_PRIO_DEFAULT);
|
||||
|
||||
/* copy from mapped manual control to control group 3 */
|
||||
struct actuator_controls_s actuator_group_3 = {};
|
||||
|
||||
actuator_group_3.timestamp = rc_input.timestamp_last_signal;
|
||||
|
||||
actuator_group_3.control[0] = manual.y;
|
||||
actuator_group_3.control[1] = manual.x;
|
||||
actuator_group_3.control[2] = manual.r;
|
||||
actuator_group_3.control[3] = manual.z;
|
||||
actuator_group_3.control[4] = manual.flaps;
|
||||
actuator_group_3.control[5] = manual.aux1;
|
||||
actuator_group_3.control[6] = manual.aux2;
|
||||
actuator_group_3.control[7] = manual.aux3;
|
||||
|
||||
/* publish actuator_controls_3 topic */
|
||||
orb_publish_auto(ORB_ID(actuator_controls_3), &_actuator_group_3_pub, &actuator_group_3, &instance,
|
||||
ORB_PRIO_DEFAULT);
|
||||
|
||||
/* Update parameters from RC Channels (tuning with RC) if activated */
|
||||
static hrt_abstime last_rc_to_param_map_time = 0;
|
||||
|
||||
if (hrt_elapsed_time(&last_rc_to_param_map_time) > 1e6) {
|
||||
set_params_from_rc();
|
||||
last_rc_to_param_map_time = hrt_absolute_time();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool
|
||||
Sensors::check_failover(SensorData &sensor, const char *sensor_name)
|
||||
{
|
||||
@@ -2442,6 +1878,8 @@ Sensors::task_main()
|
||||
PX4_ERR("sensor initialization failed");
|
||||
}
|
||||
|
||||
_rc_update.init();
|
||||
|
||||
struct sensor_combined_s raw = {};
|
||||
|
||||
raw.accelerometer_timestamp_relative = sensor_combined_s::RELATIVE_TIMESTAMP_INVALID;
|
||||
@@ -2463,23 +1901,17 @@ Sensors::task_main()
|
||||
|
||||
init_sensor_class(ORB_ID(sensor_baro), _baro);
|
||||
|
||||
/* reload calibration params */
|
||||
parameter_update_poll(true);
|
||||
|
||||
_rc_sub = orb_subscribe(ORB_ID(input_rc));
|
||||
|
||||
_diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
|
||||
|
||||
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
|
||||
|
||||
_params_sub = orb_subscribe(ORB_ID(parameter_update));
|
||||
|
||||
_rc_parameter_map_sub = orb_subscribe(ORB_ID(rc_parameter_map));
|
||||
|
||||
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
|
||||
|
||||
_actuator_ctrl_0_sub = orb_subscribe(ORB_ID(actuator_controls_0));
|
||||
|
||||
/* reload calibration params */
|
||||
parameter_update_poll(true);
|
||||
|
||||
raw.timestamp = 0;
|
||||
|
||||
_battery.reset(&_battery_status);
|
||||
@@ -2495,9 +1927,7 @@ Sensors::task_main()
|
||||
|
||||
diff_pres_poll(raw);
|
||||
|
||||
parameter_update_poll(true /* forced */);
|
||||
|
||||
rc_parameter_map_poll(true /* forced */);
|
||||
_rc_update.rc_parameter_map_poll(_parameter_handles, true /* forced */);
|
||||
|
||||
/* advertise the sensor_combined topic and make the initial publication */
|
||||
_sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
|
||||
@@ -2516,7 +1946,7 @@ Sensors::task_main()
|
||||
|
||||
_task_should_exit = false;
|
||||
|
||||
uint64_t _last_config_update = hrt_absolute_time();
|
||||
uint64_t last_config_update = hrt_absolute_time();
|
||||
|
||||
while (!_task_should_exit) {
|
||||
|
||||
@@ -2598,12 +2028,12 @@ Sensors::task_main()
|
||||
/* keep adding sensors as long as we are not armed,
|
||||
* when not adding sensors poll for param updates
|
||||
*/
|
||||
if (!_armed && hrt_elapsed_time(&_last_config_update) > 500 * 1000) {
|
||||
if (!_armed && hrt_elapsed_time(&last_config_update) > 500 * 1000) {
|
||||
init_sensor_class(ORB_ID(sensor_gyro), _gyro);
|
||||
init_sensor_class(ORB_ID(sensor_mag), _mag);
|
||||
init_sensor_class(ORB_ID(sensor_accel), _accel);
|
||||
init_sensor_class(ORB_ID(sensor_baro), _baro);
|
||||
_last_config_update = hrt_absolute_time();
|
||||
last_config_update = hrt_absolute_time();
|
||||
|
||||
} else {
|
||||
|
||||
@@ -2611,11 +2041,11 @@ Sensors::task_main()
|
||||
parameter_update_poll();
|
||||
|
||||
/* check rc parameter map for updates */
|
||||
rc_parameter_map_poll();
|
||||
_rc_update.rc_parameter_map_poll(_parameter_handles);
|
||||
}
|
||||
|
||||
/* Look for new r/c input data */
|
||||
rc_poll();
|
||||
_rc_update.rc_poll(_parameter_handles);
|
||||
|
||||
perf_end(_loop_perf);
|
||||
}
|
||||
@@ -2636,15 +2066,14 @@ Sensors::task_main()
|
||||
orb_unsubscribe(_baro.subscription[i]);
|
||||
}
|
||||
|
||||
orb_unsubscribe(_rc_sub);
|
||||
orb_unsubscribe(_diff_pres_sub);
|
||||
orb_unsubscribe(_vcontrol_mode_sub);
|
||||
orb_unsubscribe(_params_sub);
|
||||
orb_unsubscribe(_rc_parameter_map_sub);
|
||||
orb_unsubscribe(_manual_control_sub);
|
||||
orb_unsubscribe(_actuator_ctrl_0_sub);
|
||||
orb_unadvertise(_sensor_pub);
|
||||
|
||||
_rc_update.deinit();
|
||||
|
||||
_sensors_task = -1;
|
||||
px4_task_exit(ret);
|
||||
}
|
||||
|
||||
@@ -52,6 +52,9 @@
|
||||
|
||||
using namespace DriverFramework;
|
||||
|
||||
namespace sensors
|
||||
{
|
||||
|
||||
#if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
|
||||
|
||||
// Sensor initialization is performed automatically when the QuRT sensor drivers
|
||||
@@ -213,3 +216,5 @@ baro_init()
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
} /* namespace sensors */
|
||||
|
||||
@@ -42,4 +42,9 @@
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
|
||||
namespace sensors
|
||||
{
|
||||
|
||||
int sensors_init(void);
|
||||
|
||||
} /* namespace sensors */
|
||||
|
||||
Reference in New Issue
Block a user