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223 lines
7.8 KiB
223 lines
7.8 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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//Function that will read the radio data, limit servos and trigger a failsafe |
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// ---------------------------------------------------------------------------- |
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/* |
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allow for runtime change of control channel ordering |
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*/ |
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static void set_control_channels(void) |
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{ |
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channel_roll = RC_Channel::rc_channel(rcmap.roll()-1); |
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channel_pitch = RC_Channel::rc_channel(rcmap.pitch()-1); |
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channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1); |
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channel_rudder = RC_Channel::rc_channel(rcmap.yaw()-1); |
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// set rc channel ranges |
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channel_roll->set_angle(SERVO_MAX); |
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channel_pitch->set_angle(SERVO_MAX); |
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channel_rudder->set_angle(SERVO_MAX); |
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channel_throttle->set_range(0, 100); |
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} |
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/* |
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initialise RC input channels |
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*/ |
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static void init_rc_in() |
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{ |
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// set rc dead zones |
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channel_roll->set_default_dead_zone(30); |
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channel_pitch->set_default_dead_zone(30); |
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channel_rudder->set_default_dead_zone(30); |
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channel_throttle->set_default_dead_zone(30); |
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update_aux(); |
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} |
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/* |
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initialise RC output channels |
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*/ |
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static void init_rc_out() |
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{ |
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channel_roll->enable_out(); |
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channel_pitch->enable_out(); |
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channel_throttle->enable_out(); |
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channel_rudder->enable_out(); |
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enable_aux_servos(); |
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// Initialization of servo outputs |
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for (uint8_t i=0; i<8; i++) { |
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RC_Channel::rc_channel(i)->output_trim(); |
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} |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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servo_write(CH_9, g.rc_9.radio_trim); |
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#endif |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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servo_write(CH_10, g.rc_10.radio_trim); |
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servo_write(CH_11, g.rc_11.radio_trim); |
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#endif |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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servo_write(CH_12, g.rc_12.radio_trim); |
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#endif |
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} |
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static void read_radio() |
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{ |
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elevon.ch1_temp = channel_roll->read(); |
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elevon.ch2_temp = channel_pitch->read(); |
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uint16_t pwm_roll, pwm_pitch; |
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if (g.mix_mode == 0) { |
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pwm_roll = elevon.ch1_temp; |
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pwm_pitch = elevon.ch2_temp; |
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}else{ |
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pwm_roll = BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(elevon.ch2_temp - elevon.trim2) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(elevon.ch1_temp - elevon.trim1)) / 2 + 1500; |
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pwm_pitch = (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(elevon.ch2_temp - elevon.trim2) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(elevon.ch1_temp - elevon.trim1)) / 2 + 1500; |
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} |
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if (control_mode == TRAINING) { |
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// in training mode we don't want to use a deadzone, as we |
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// want manual pass through when not exceeding attitude limits |
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channel_roll->set_pwm_no_deadzone(pwm_roll); |
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channel_pitch->set_pwm_no_deadzone(pwm_pitch); |
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channel_throttle->set_pwm_no_deadzone(channel_throttle->read()); |
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channel_rudder->set_pwm_no_deadzone(channel_rudder->read()); |
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} else { |
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channel_roll->set_pwm(pwm_roll); |
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channel_pitch->set_pwm(pwm_pitch); |
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channel_throttle->set_pwm(channel_throttle->read()); |
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channel_rudder->set_pwm(channel_rudder->read()); |
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} |
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g.rc_5.set_pwm(hal.rcin->read(CH_5)); |
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g.rc_6.set_pwm(hal.rcin->read(CH_6)); |
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g.rc_7.set_pwm(hal.rcin->read(CH_7)); |
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g.rc_8.set_pwm(hal.rcin->read(CH_8)); |
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control_failsafe(channel_throttle->radio_in); |
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channel_throttle->servo_out = channel_throttle->control_in; |
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if (g.throttle_nudge && channel_throttle->servo_out > 50) { |
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float nudge = (channel_throttle->servo_out - 50) * 0.02f; |
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if (airspeed.use()) { |
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airspeed_nudge_cm = (aparm.airspeed_max * 100 - g.airspeed_cruise_cm) * nudge; |
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} else { |
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throttle_nudge = (aparm.throttle_max - aparm.throttle_cruise) * nudge; |
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} |
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} else { |
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airspeed_nudge_cm = 0; |
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throttle_nudge = 0; |
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} |
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} |
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static void control_failsafe(uint16_t pwm) |
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{ |
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if(g.throttle_fs_enabled == 0) |
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return; |
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// Check for failsafe condition based on loss of GCS control |
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if (failsafe.rc_override_active) { |
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if (millis() - failsafe.last_heartbeat_ms > g.short_fs_timeout*1000) { |
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failsafe.ch3_failsafe = true; |
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AP_Notify::flags.failsafe_radio = true; |
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} else { |
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failsafe.ch3_failsafe = false; |
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AP_Notify::flags.failsafe_radio = false; |
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} |
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//Check for failsafe and debounce funky reads |
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} else if (g.throttle_fs_enabled) { |
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if (pwm < (unsigned)g.throttle_fs_value) { |
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// we detect a failsafe from radio |
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// throttle has dropped below the mark |
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failsafe.ch3_counter++; |
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if (failsafe.ch3_counter == 10) { |
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gcs_send_text_fmt(PSTR("MSG FS ON %u"), (unsigned)pwm); |
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failsafe.ch3_failsafe = true; |
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AP_Notify::flags.failsafe_radio = true; |
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} |
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if (failsafe.ch3_counter > 10) { |
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failsafe.ch3_counter = 10; |
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} |
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}else if(failsafe.ch3_counter > 0) { |
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// we are no longer in failsafe condition |
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// but we need to recover quickly |
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failsafe.ch3_counter--; |
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if (failsafe.ch3_counter > 3) { |
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failsafe.ch3_counter = 3; |
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} |
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if (failsafe.ch3_counter == 1) { |
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gcs_send_text_fmt(PSTR("MSG FS OFF %u"), (unsigned)pwm); |
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} else if(failsafe.ch3_counter == 0) { |
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failsafe.ch3_failsafe = false; |
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AP_Notify::flags.failsafe_radio = false; |
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} |
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} |
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} |
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} |
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static void trim_control_surfaces() |
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{ |
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read_radio(); |
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int16_t trim_roll_range = (channel_roll->radio_max - channel_roll->radio_min)/5; |
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int16_t trim_pitch_range = (channel_pitch->radio_max - channel_pitch->radio_min)/5; |
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if (channel_roll->radio_in < channel_roll->radio_min+trim_roll_range || |
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channel_roll->radio_in > channel_roll->radio_max-trim_roll_range || |
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channel_pitch->radio_in < channel_pitch->radio_min+trim_pitch_range || |
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channel_pitch->radio_in > channel_pitch->radio_max-trim_pitch_range) { |
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// don't trim for extreme values - if we attempt to trim so |
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// there is less than 20 percent range left then assume the |
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// sticks are not properly centered. This also prevents |
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// problems with starting APM with the TX off |
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return; |
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} |
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// Store control surface trim values |
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// --------------------------------- |
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if(g.mix_mode == 0) { |
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if (channel_roll->radio_in != 0) { |
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channel_roll->radio_trim = channel_roll->radio_in; |
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} |
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if (channel_pitch->radio_in != 0) { |
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channel_pitch->radio_trim = channel_pitch->radio_in; |
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} |
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// the secondary aileron/elevator is trimmed only if it has a |
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// corresponding transmitter input channel, which k_aileron |
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// doesn't have |
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RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_aileron_with_input); |
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RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_elevator_with_input); |
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} else{ |
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if (elevon.ch1_temp != 0) { |
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elevon.trim1 = elevon.ch1_temp; |
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} |
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if (elevon.ch2_temp != 0) { |
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elevon.trim2 = elevon.ch2_temp; |
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} |
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//Recompute values here using new values for elevon1_trim and elevon2_trim |
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//We cannot use radio_in[CH_ROLL] and radio_in[CH_PITCH] values from read_radio() because the elevon trim values have changed |
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uint16_t center = 1500; |
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channel_roll->radio_trim = center; |
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channel_pitch->radio_trim = center; |
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} |
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if (channel_rudder->radio_in != 0) { |
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channel_rudder->radio_trim = channel_rudder->radio_in; |
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} |
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// save to eeprom |
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channel_roll->save_eeprom(); |
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channel_pitch->save_eeprom(); |
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channel_rudder->save_eeprom(); |
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} |
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static void trim_radio() |
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{ |
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for (uint8_t y = 0; y < 30; y++) { |
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read_radio(); |
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} |
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trim_control_surfaces(); |
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}
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