Merge pull request #1543 from thomasgubler/rcparamtune

RC param tune

mavlink/include/mavlink/v1.0

@@ -1 +1 @@
-Subproject commit ad5e5a645dec152419264ad32221f7c113ea5c30
+Subproject commit 42f1a37397335b3c4c96b0a41c73d85e80d54a60

src/modules/mavlink/mavlink_parameters.cpp

@@ -44,7 +44,9 @@
 #include "mavlink_main.h"
 
 MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink),
-	_send_all_index(-1)
+	_send_all_index(-1),
+	_rc_param_map_pub(-1),
+	_rc_param_map()
 {
 }
 
@@ -135,6 +137,43 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 			break;
 		}
 
+	case MAVLINK_MSG_ID_PARAM_MAP_RC: {
+			/* map a rc channel to a parameter */
+			mavlink_param_map_rc_t map_rc;
+			mavlink_msg_param_map_rc_decode(msg, &map_rc);
+
+			if (map_rc.target_system == mavlink_system.sysid &&
+			    (map_rc.target_component == mavlink_system.compid ||
+			     map_rc.target_component == MAV_COMP_ID_ALL)) {
+
+				/* Copy values from msg to uorb using the parameter_rc_channel_index as index */
+				size_t i = map_rc.parameter_rc_channel_index;
+				_rc_param_map.param_index[i] = map_rc.param_index;
+				strncpy(&(_rc_param_map.param_id[i][0]), map_rc.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+				/* enforce null termination */
+				_rc_param_map.param_id[i][MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = '\0';
+				_rc_param_map.scale[i] = map_rc.scale;
+				_rc_param_map.value0[i] = map_rc.param_value0;
+				_rc_param_map.value_min[i] = map_rc.param_value_min;
+				_rc_param_map.value_max[i] = map_rc.param_value_max;
+				if (map_rc.param_index == -2) { // -2 means unset map
+					_rc_param_map.valid[i] = false;
+				} else {
+					_rc_param_map.valid[i] = true;
+				}
+				_rc_param_map.timestamp = hrt_absolute_time();
+
+				if (_rc_param_map_pub < 0) {
+					_rc_param_map_pub = orb_advertise(ORB_ID(rc_parameter_map), &_rc_param_map);
+
+				} else {
+					orb_publish(ORB_ID(rc_parameter_map), _rc_param_map_pub, &_rc_param_map);
+				}
+
+			}
+			break;
+		}
+
 	default:
 		break;
 	}

src/modules/mavlink/mavlink_parameters.h

@@ -44,6 +44,8 @@
 
 #include "mavlink_bridge_header.h"
 #include "mavlink_stream.h"
+#include <uORB/uORB.h>
+#include <uORB/topics/rc_parameter_map.h>
 
 class MavlinkParametersManager : public MavlinkStream
 {
@@ -112,4 +114,7 @@ protected:
 	void send(const hrt_abstime t);
 
 	void send_param(param_t param);
+
+	orb_advert_t _rc_param_map_pub;
+	struct rc_parameter_map_s _rc_param_map;
 };

src/modules/sensors/sensor_params.c

@@ -766,6 +766,41 @@ PARAM_DEFINE_INT32(RC_MAP_AUX2, 0);	/**< default function: camera roll */
  */
 PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
 
+/**
+ * Channel which changes a parameter
+ *
+ * Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel.
+ * Set to 0 to deactivate *
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_PARAM1, 0);
+
+/**
+ * Channel which changes a parameter
+ *
+ * Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel.
+ * Set to 0 to deactivate *
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_PARAM2, 0);
+
+/**
+ * Channel which changes a parameter
+ *
+ * Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel.
+ * Set to 0 to deactivate *
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_PARAM3, 0);
 
 /**
  * Failsafe channel PWM threshold.

src/modules/sensors/sensors.cpp

@@ -37,7 +37,7 @@
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Julian Oes <joes@student.ethz.ch>
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #include <nuttx/config.h>
@@ -83,6 +83,7 @@
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/airspeed.h>
+#include <uORB/topics/rc_parameter_map.h>
 
 #define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20   /* 40 ms downtime at 500 Hz update rate   */
 #define ACC_HEALTH_COUNTER_LIMIT_ERROR  20   /* 40 ms downtime at 500 Hz update rate   */
@@ -191,6 +192,14 @@ private:
 	switch_pos_t	get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv);
 	switch_pos_t	get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv);
 
+	/**
+	 * Update paramters 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.
 	 */
@@ -221,6 +230,7 @@ private:
 	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 */
@@ -238,6 +248,7 @@ private:
 	struct baro_report _barometer;			/**< barometer data */
 	struct differential_pressure_s _diff_pres;
 	struct airspeed_s _airspeed;
+	struct rc_parameter_map_s _rc_parameter_map;
 
 	math::Matrix<3, 3>	_board_rotation;		/**< rotation matrix for the orientation that the board is mounted */
 	math::Matrix<3, 3>	_external_mag_rotation;		/**< rotation matrix for the orientation that an external mag is mounted */
@@ -290,6 +301,8 @@ private:
 		int rc_map_aux4;
 		int rc_map_aux5;
 
+		int rc_map_param[RC_PARAM_MAP_NCHAN];
+
 		int32_t rc_fails_thr;
 		float rc_assist_th;
 		float rc_auto_th;
@@ -350,6 +363,12 @@ private:
 		param_t rc_map_aux4;
 		param_t rc_map_aux5;
 
+		param_t rc_map_param[RC_PARAM_MAP_NCHAN];
+		param_t rc_param[RC_PARAM_MAP_NCHAN];	/**< param handles for the paramters 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_fails_thr;
 		param_t rc_assist_th;
 		param_t rc_auto_th;
@@ -453,6 +472,11 @@ private:
 	 */
 	void 		parameter_update_poll(bool forced = false);
 
+	/**
+	 * Check for changes in rc_parameter_map
+	 */
+	void 		rc_parameter_map_poll(bool forced = false);
+
 	/**
 	 * Poll the ADC and update readings to suit.
 	 *
@@ -501,6 +525,7 @@ Sensors::Sensors() :
 	_baro_sub(-1),
 	_vcontrol_mode_sub(-1),
 	_params_sub(-1),
+	_rc_parameter_map_sub(-1),
 	_manual_control_sub(-1),
 
 /* publications */
@@ -521,6 +546,7 @@ Sensors::Sensors() :
 {
 	memset(&_rc, 0, sizeof(_rc));
 	memset(&_diff_pres, 0, sizeof(_diff_pres));
+	memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map));
 
 	/* basic r/c parameters */
 	for (unsigned i = 0; i < _rc_max_chan_count; i++) {
@@ -573,6 +599,13 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
 	_parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
 
+	/* RC to parameter mapping for changing parameters with RC */
+	for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
+		char name[PARAM_ID_LEN];
+		snprintf(name, PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1); // shifted by 1 because param name starts at 1
+		_parameter_handles.rc_map_param[i] = param_find(name);
+	}
+
 	/* RC thresholds */
 	_parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
 	_parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
@@ -751,6 +784,9 @@ Sensors::parameters_update()
 	param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3));
 	param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
 	param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
+	for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
+		param_get(_parameter_handles.rc_map_param[i], &(_parameters.rc_map_param[i]));
+	}
 	param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr));
 	param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th));
 	_parameters.rc_assist_inv = (_parameters.rc_assist_th < 0);
@@ -795,6 +831,10 @@ Sensors::parameters_update()
 	_rc.function[AUX_4] = _parameters.rc_map_aux4 - 1;
 	_rc.function[AUX_5] = _parameters.rc_map_aux5 - 1;
 
+	for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
+		_rc.function[PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
+	}
+
 	/* gyro offsets */
 	param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0]));
 	param_get(_parameter_handles.gyro_offset[1], &(_parameters.gyro_offset[1]));
@@ -1391,6 +1431,45 @@ Sensors::parameter_update_poll(bool forced)
 	}
 }
 
+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 paramter handles to which the RC channels are mapped */
+		for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
+			if (_rc.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_index((unsigned)_rc_parameter_map.param_index[i]);
+			} else {
+				_parameter_handles.rc_param[i] = param_find(_rc_parameter_map.param_id[i]);
+			}
+
+		}
+		warnx("rc to parameter map updated");
+		for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
+			warnx("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f",
+					i,
+					_rc_parameter_map.param_id[i],
+					(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)
 {
@@ -1569,6 +1648,31 @@ Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, boo
 	}
 }
 
+void
+Sensors::set_params_from_rc()
+{
+	static float param_rc_values[RC_PARAM_MAP_NCHAN] = {};
+	for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
+		if (_rc.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((enum 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], &param_val);
+		}
+	}
+}
+
 void
 Sensors::rc_poll()
 {
@@ -1735,6 +1839,13 @@ Sensors::rc_poll()
 			} else {
 				_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
 			}
+
+			/* 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();
+			}
 		}
 	}
 }
@@ -1773,6 +1884,7 @@ Sensors::task_main()
 	_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));
 
 	/* rate limit vehicle status updates to 5Hz */
@@ -1806,6 +1918,7 @@ Sensors::task_main()
 	diff_pres_poll(raw);
 
 	parameter_update_poll(true /* forced */);
+	rc_parameter_map_poll(true /* forced */);
 
 	/* advertise the sensor_combined topic and make the initial publication */
 	_sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw);
@@ -1838,6 +1951,9 @@ Sensors::task_main()
 		/* check parameters for updates */
 		parameter_update_poll();
 
+		/* check rc parameter map for updates */
+		rc_parameter_map_poll();
+
 		/* the timestamp of the raw struct is updated by the gyro_poll() method */
 
 		/* copy most recent sensor data */

src/modules/uORB/objects_common.cpp

@@ -246,3 +246,6 @@ ORB_DEFINE(tecs_status, struct tecs_status_s);
 
 #include "topics/wind_estimate.h"
 ORB_DEFINE(wind_estimate, struct wind_estimate_s);
+
+#include "topics/rc_parameter_map.h"
+ORB_DEFINE(rc_parameter_map, struct rc_parameter_map_s);

src/modules/uORB/topics/rc_channels.h

@@ -65,12 +65,15 @@ enum RC_CHANNELS_FUNCTION {
 	AUX_2,
 	AUX_3,
 	AUX_4,
-	AUX_5
+	AUX_5,
+	PARAM_1,
+	PARAM_2,
+	PARAM_3
 };
 
 // MAXIMUM FUNCTIONS IS != MAXIMUM RC INPUT CHANNELS
 
-#define RC_CHANNELS_FUNCTION_MAX 18
+#define RC_CHANNELS_FUNCTION_MAX 19
 
 /**
  * @addtogroup topics

src/modules/uORB/topics/rc_parameter_map.h

@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file rc_parameter_map.h
+ * Maps RC channels to parameters
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef TOPIC_RC_PARAMETER_MAP_H
+#define TOPIC_RC_PARAMETER_MAP_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define RC_PARAM_MAP_NCHAN 3 // This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h
+#define PARAM_ID_LEN 16 // corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct rc_parameter_map_s {
+	uint64_t timestamp;			/**< time at which the map was updated */
+
+	bool valid[RC_PARAM_MAP_NCHAN];		/**< true for RC-Param channels which are mapped to a param */
+
+	int param_index[RC_PARAM_MAP_NCHAN];	/**< corresponding param index, this
+						  this field is ignored if set to -1, in this case param_id will
+						  be used*/
+	char param_id[RC_PARAM_MAP_NCHAN][PARAM_ID_LEN + 1];	/**< corresponding param id, null terminated */
+	float scale[RC_PARAM_MAP_NCHAN];	/** scale to map the RC input [-1, 1] to a parameter value */
+	float value0[RC_PARAM_MAP_NCHAN];	/** inital value around which the parameter value is changed */
+	float value_min[RC_PARAM_MAP_NCHAN];	/** minimal parameter value */
+	float value_max[RC_PARAM_MAP_NCHAN];	/** minimal parameter value */
+};
+
+/**
+ * @}
+ */
+
+ORB_DECLARE(rc_parameter_map);
+
+#endif