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Plane: refactor more of servos output code to be easier to read

mission-4.1.18
Andrew Tridgell 8 years ago
parent
6aa3ded666
commit
40c6ebf61a
2 changed files with 218 additions and 180 deletions
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  1. 4
      ArduPlane/Plane.h
  2. 394
      ArduPlane/servos.cpp

4
ArduPlane/Plane.h
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@ -1039,6 +1039,10 @@ private: @@ -1039,6 +1039,10 @@ private:
void stabilize();
void set_servos_idle(void);
void set_servos();
void set_servos_manual_passthrough(void);
void set_servos_controlled(void);
void set_servos_old_elevons(void);
void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle);
bool allow_reverse_thrust(void);
void update_aux();
void update_is_flying_5Hz(void);

394
ArduPlane/servos.cpp
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@ -318,6 +318,218 @@ uint16_t Plane::throttle_min(void) const @@ -318,6 +318,218 @@ uint16_t Plane::throttle_min(void) const
};
/*
pass through channels in manual mode
*/
void Plane::set_servos_manual_passthrough(void)
{
// do a direct pass through of radio values
if (g.mix_mode == 0 || g.elevon_output != MIXING_DISABLED) {
channel_roll->set_radio_out(channel_roll->get_radio_in());
channel_pitch->set_radio_out(channel_pitch->get_radio_in());
} else {
channel_roll->set_radio_out(channel_roll->read());
channel_pitch->set_radio_out(channel_pitch->read());
}
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
channel_rudder->set_radio_out(channel_rudder->get_radio_in());
// setup extra channels. We want this to come from the
// main input channel, but using the 2nd channels dead
// zone, reverse and min/max settings. We need to use
// pwm_to_angle_dz() to ensure we don't trim the value for the
// deadzone of the main aileron channel, otherwise the 2nd
// aileron won't quite follow the first one
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron, channel_roll->pwm_to_angle_dz(0));
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator, channel_pitch->pwm_to_angle_dz(0));
// this variant assumes you have the corresponding
// input channel setup in your transmitter for manual control
// of the 2nd aileron
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_elevator_with_input);
}
/*
old (deprecated) elevon support
*/
void Plane::set_servos_old_elevons(void)
{
/*Elevon mode*/
float ch1;
float ch2;
ch1 = channel_pitch->get_servo_out() - (BOOL_TO_SIGN(g.reverse_elevons) * channel_roll->get_servo_out());
ch2 = channel_pitch->get_servo_out() + (BOOL_TO_SIGN(g.reverse_elevons) * channel_roll->get_servo_out());
/* Differential Spoilers
If differential spoilers are setup, then we translate
rudder control into splitting of the two ailerons on
the side of the aircraft where we want to induce
additional drag.
*/
if (RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler1) && RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler2)) {
float ch3 = ch1;
float ch4 = ch2;
if ( BOOL_TO_SIGN(g.reverse_elevons) * channel_rudder->get_servo_out() < 0) {
ch1 += abs(channel_rudder->get_servo_out());
ch3 -= abs(channel_rudder->get_servo_out());
} else {
ch2 += abs(channel_rudder->get_servo_out());
ch4 -= abs(channel_rudder->get_servo_out());
}
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_dspoiler1, ch3);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_dspoiler2, ch4);
}
// directly set the radio_out values for elevon mode
channel_roll->set_radio_out(elevon.trim1 + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0f/ SERVO_MAX)));
channel_pitch->set_radio_out(elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0f/ SERVO_MAX)));
}
/*
calculate any throttle limits based on the watt limiter
*/
void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
{
uint32_t now = millis();
if (battery.overpower_detected()) {
// overpower detected, cut back on the throttle if we're maxing it out by calculating a limiter value
// throttle limit will attack by 10% per second
if (channel_throttle->get_servo_out() > 0 && // demanding too much positive thrust
throttle_watt_limit_max < max_throttle - 25 &&
now - throttle_watt_limit_timer_ms >= 1) {
// always allow for 25% throttle available regardless of battery status
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_max++;
} else if (channel_throttle->get_servo_out() < 0 &&
min_throttle < 0 && // reverse thrust is available
throttle_watt_limit_min < -(min_throttle) - 25 &&
now - throttle_watt_limit_timer_ms >= 1) {
// always allow for 25% throttle available regardless of battery status
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_min++;
}
} else if (now - throttle_watt_limit_timer_ms >= 1000) {
// it has been 1 second since last over-current, check if we can resume higher throttle.
// this throttle release is needed to allow raising the max_throttle as the battery voltage drains down
// throttle limit will release by 1% per second
if (channel_throttle->get_servo_out() > throttle_watt_limit_max && // demanding max forward thrust
throttle_watt_limit_max > 0) { // and we're currently limiting it
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_max--;
} else if (channel_throttle->get_servo_out() < throttle_watt_limit_min && // demanding max negative thrust
throttle_watt_limit_min > 0) { // and we're limiting it
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_min--;
}
}
max_throttle = constrain_int16(max_throttle, 0, max_throttle - throttle_watt_limit_max);
if (min_throttle < 0) {
min_throttle = constrain_int16(min_throttle, min_throttle + throttle_watt_limit_min, 0);
}
}
/*
setup output channels all non-manual modes
*/
void Plane::set_servos_controlled(void)
{
if (g.mix_mode != 0) {
set_servos_old_elevons();
} else {
// both types of secondary aileron are slaved to the roll servo out
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron, channel_roll->get_servo_out());
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron_with_input, channel_roll->get_servo_out());
// both types of secondary elevator are slaved to the pitch servo out
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator, channel_pitch->get_servo_out());
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator_with_input, channel_pitch->get_servo_out());
// push out the PWM values
channel_roll->calc_pwm();
channel_pitch->calc_pwm();
}
channel_rudder->calc_pwm();
#if THROTTLE_OUT == 0
channel_throttle->set_servo_out(0);
#else
// convert 0 to 100% (or -100 to +100) into PWM
int8_t min_throttle = aparm.throttle_min.get();
int8_t max_throttle = aparm.throttle_max.get();
if (min_throttle < 0 && !allow_reverse_thrust()) {
// reverse thrust is available but inhibited.
min_throttle = 0;
}
if (control_mode == AUTO) {
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) {
min_throttle = 0;
}
if (flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF || flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
if(aparm.takeoff_throttle_max != 0) {
max_throttle = aparm.takeoff_throttle_max;
} else {
max_throttle = aparm.throttle_max;
}
}
}
// apply watt limiter
throttle_watt_limiter(min_throttle, max_throttle);
channel_throttle->set_servo_out(constrain_int16(channel_throttle->get_servo_out(),
min_throttle,
max_throttle));
if (!hal.util->get_soft_armed()) {
channel_throttle->set_servo_out(0);
channel_throttle->calc_pwm();
} else if (suppress_throttle()) {
// throttle is suppressed in auto mode
channel_throttle->set_servo_out(0);
if (g.throttle_suppress_manual) {
// manual pass through of throttle while throttle is suppressed
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else {
channel_throttle->calc_pwm();
}
} else if (g.throttle_passthru_stabilize &&
(control_mode == STABILIZE ||
control_mode == TRAINING ||
control_mode == ACRO ||
control_mode == FLY_BY_WIRE_A ||
control_mode == AUTOTUNE) &&
!failsafe.ch3_counter) {
// manual pass through of throttle while in FBWA or
// STABILIZE mode with THR_PASS_STAB set
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else if ((control_mode == GUIDED || control_mode == AVOID_ADSB) &&
guided_throttle_passthru) {
// manual pass through of throttle while in GUIDED
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else if (quadplane.in_vtol_mode()) {
// ask quadplane code for forward throttle
channel_throttle->set_servo_out(quadplane.forward_throttle_pct());
channel_throttle->calc_pwm();
} else {
// normal throttle calculation based on servo_out
channel_throttle->calc_pwm();
}
#endif
}
/*****************************************
* Set the flight control servos based on the current calculated values
*****************************************/
@ -365,187 +577,9 @@ void Plane::set_servos(void) @@ -365,187 +577,9 @@ void Plane::set_servos(void)
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_steering, steering_control.steering);
if (control_mode == MANUAL) {
// do a direct pass through of radio values
if (g.mix_mode == 0 || g.elevon_output != MIXING_DISABLED) {
channel_roll->set_radio_out(channel_roll->get_radio_in());
channel_pitch->set_radio_out(channel_pitch->get_radio_in());
} else {
channel_roll->set_radio_out(channel_roll->read());
channel_pitch->set_radio_out(channel_pitch->read());
}
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
channel_rudder->set_radio_out(channel_rudder->get_radio_in());
// setup extra channels. We want this to come from the
// main input channel, but using the 2nd channels dead
// zone, reverse and min/max settings. We need to use
// pwm_to_angle_dz() to ensure we don't trim the value for the
// deadzone of the main aileron channel, otherwise the 2nd
// aileron won't quite follow the first one
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron, channel_roll->pwm_to_angle_dz(0));
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator, channel_pitch->pwm_to_angle_dz(0));
// this variant assumes you have the corresponding
// input channel setup in your transmitter for manual control
// of the 2nd aileron
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_elevator_with_input);
set_servos_manual_passthrough();
} else {
if (g.mix_mode == 0) {
// both types of secondary aileron are slaved to the roll servo out
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron, channel_roll->get_servo_out());
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron_with_input, channel_roll->get_servo_out());
// both types of secondary elevator are slaved to the pitch servo out
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator, channel_pitch->get_servo_out());
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator_with_input, channel_pitch->get_servo_out());
}else{
/*Elevon mode*/
float ch1;
float ch2;
ch1 = channel_pitch->get_servo_out() - (BOOL_TO_SIGN(g.reverse_elevons) * channel_roll->get_servo_out());
ch2 = channel_pitch->get_servo_out() + (BOOL_TO_SIGN(g.reverse_elevons) * channel_roll->get_servo_out());
/* Differential Spoilers
If differential spoilers are setup, then we translate
rudder control into splitting of the two ailerons on
the side of the aircraft where we want to induce
additional drag.
*/
if (RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler1) && RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler2)) {
float ch3 = ch1;
float ch4 = ch2;
if ( BOOL_TO_SIGN(g.reverse_elevons) * channel_rudder->get_servo_out() < 0) {
ch1 += abs(channel_rudder->get_servo_out());
ch3 -= abs(channel_rudder->get_servo_out());
} else {
ch2 += abs(channel_rudder->get_servo_out());
ch4 -= abs(channel_rudder->get_servo_out());
}
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_dspoiler1, ch3);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_dspoiler2, ch4);
}
// directly set the radio_out values for elevon mode
channel_roll->set_radio_out(elevon.trim1 + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0f/ SERVO_MAX)));
channel_pitch->set_radio_out(elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0f/ SERVO_MAX)));
}
// push out the PWM values
if (g.mix_mode == 0) {
channel_roll->calc_pwm();
channel_pitch->calc_pwm();
}
channel_rudder->calc_pwm();
#if THROTTLE_OUT == 0
channel_throttle->set_servo_out(0);
#else
// convert 0 to 100% (or -100 to +100) into PWM
int8_t min_throttle = aparm.throttle_min.get();
int8_t max_throttle = aparm.throttle_max.get();
if (min_throttle < 0 && !allow_reverse_thrust()) {
// reverse thrust is available but inhibited.
min_throttle = 0;
}
if (control_mode == AUTO) {
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) {
min_throttle = 0;
}
if (flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF || flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
if(aparm.takeoff_throttle_max != 0) {
max_throttle = aparm.takeoff_throttle_max;
} else {
max_throttle = aparm.throttle_max;
}
}
}
uint32_t now = millis();
if (battery.overpower_detected()) {
// overpower detected, cut back on the throttle if we're maxing it out by calculating a limiter value
// throttle limit will attack by 10% per second
if (channel_throttle->get_servo_out() > 0 && // demanding too much positive thrust
throttle_watt_limit_max < max_throttle - 25 &&
now - throttle_watt_limit_timer_ms >= 1) {
// always allow for 25% throttle available regardless of battery status
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_max++;
} else if (channel_throttle->get_servo_out() < 0 &&
min_throttle < 0 && // reverse thrust is available
throttle_watt_limit_min < -(min_throttle) - 25 &&
now - throttle_watt_limit_timer_ms >= 1) {
// always allow for 25% throttle available regardless of battery status
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_min++;
}
} else if (now - throttle_watt_limit_timer_ms >= 1000) {
// it has been 1 second since last over-current, check if we can resume higher throttle.
// this throttle release is needed to allow raising the max_throttle as the battery voltage drains down
// throttle limit will release by 1% per second
if (channel_throttle->get_servo_out() > throttle_watt_limit_max && // demanding max forward thrust
throttle_watt_limit_max > 0) { // and we're currently limiting it
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_max--;
} else if (channel_throttle->get_servo_out() < throttle_watt_limit_min && // demanding max negative thrust
throttle_watt_limit_min > 0) { // and we're limiting it
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_min--;
}
}
max_throttle = constrain_int16(max_throttle, 0, max_throttle - throttle_watt_limit_max);
if (min_throttle < 0) {
min_throttle = constrain_int16(min_throttle, min_throttle + throttle_watt_limit_min, 0);
}
channel_throttle->set_servo_out(constrain_int16(channel_throttle->get_servo_out(),
min_throttle,
max_throttle));
if (!hal.util->get_soft_armed()) {
channel_throttle->set_servo_out(0);
channel_throttle->calc_pwm();
} else if (suppress_throttle()) {
// throttle is suppressed in auto mode
channel_throttle->set_servo_out(0);
if (g.throttle_suppress_manual) {
// manual pass through of throttle while throttle is suppressed
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else {
channel_throttle->calc_pwm();
}
} else if (g.throttle_passthru_stabilize &&
(control_mode == STABILIZE ||
control_mode == TRAINING ||
control_mode == ACRO ||
control_mode == FLY_BY_WIRE_A ||
control_mode == AUTOTUNE) &&
!failsafe.ch3_counter) {
// manual pass through of throttle while in FBWA or
// STABILIZE mode with THR_PASS_STAB set
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else if ((control_mode == GUIDED || control_mode == AVOID_ADSB) &&
guided_throttle_passthru) {
// manual pass through of throttle while in GUIDED
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else if (quadplane.in_vtol_mode()) {
// ask quadplane code for forward throttle
channel_throttle->set_servo_out(quadplane.forward_throttle_pct());
channel_throttle->calc_pwm();
} else {
// normal throttle calculation based on servo_out
channel_throttle->calc_pwm();
}
#endif
set_servos_controlled();
}
// Auto flap deployment

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