Andrew Tridgell
6 years ago
6 changed files with 221 additions and 6 deletions
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/*
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/ |
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/*
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mixer for failsafe operation when FMU is dead |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#include <SRV_Channel/SRV_Channel.h> |
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#include "iofirmware.h" |
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#define ANGLE_SCALE ((int32_t)4500) |
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#define RANGE_SCALE ((int32_t)1000) |
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/*
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return a RC input value scaled from -4500 to 4500 |
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*/ |
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int16_t AP_IOMCU_FW::mix_input_angle(uint8_t channel, uint16_t radio_in) const |
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{ |
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const uint16_t &rc_min = mixing.rc_min[channel]; |
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const uint16_t &rc_max = mixing.rc_max[channel]; |
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const uint16_t &rc_trim = mixing.rc_trim[channel]; |
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const uint16_t &reversed = mixing.rc_reversed[channel]; |
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int16_t ret = 0; |
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if (radio_in > rc_trim && rc_max != rc_trim) { |
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ret = (ANGLE_SCALE * (int32_t)(radio_in - rc_trim)) / (int32_t)(rc_max - rc_trim); |
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} else if (radio_in < rc_trim && rc_trim != rc_min) { |
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ret = (ANGLE_SCALE * (int32_t)(radio_in - rc_trim)) / (int32_t)(rc_trim - rc_min); |
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} |
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if (reversed) { |
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ret = -ret; |
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} |
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return ret; |
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} |
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/*
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return a RC input value scaled from 0 to 1000 |
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*/ |
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int16_t AP_IOMCU_FW::mix_input_range(uint8_t channel, uint16_t radio_in) const |
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{ |
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const uint16_t &rc_min = mixing.rc_min[channel]; |
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const uint16_t &rc_max = mixing.rc_max[channel]; |
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const uint16_t &reversed = mixing.rc_reversed[channel]; |
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int16_t ret = 0; |
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if (radio_in > rc_max) { |
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ret = RANGE_SCALE; |
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} else if (radio_in < rc_min) { |
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ret = -RANGE_SCALE; |
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} else { |
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ret = (RANGE_SCALE * (int32_t)(radio_in - rc_min)) / (int32_t)(rc_max - rc_min); |
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} |
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if (reversed) { |
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ret = -ret; |
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} |
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return ret; |
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} |
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/*
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return an output pwm giving an angle for a servo channel |
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*/ |
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uint16_t AP_IOMCU_FW::mix_output_angle(uint8_t channel, int16_t angle) const |
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{ |
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const uint16_t &srv_min = mixing.servo_min[channel]; |
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const uint16_t &srv_max = mixing.servo_max[channel]; |
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const uint16_t &srv_trim = mixing.servo_trim[channel]; |
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const uint16_t &reversed = mixing.servo_reversed[channel]; |
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if (reversed) { |
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angle = -angle; |
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} |
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angle = constrain_int16(angle, -ANGLE_SCALE, ANGLE_SCALE); |
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if (angle > 0) { |
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return srv_trim + ((int32_t)angle * (int32_t)(srv_max - srv_trim)) / ANGLE_SCALE; |
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} |
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return srv_trim - (-(int32_t)angle * (int32_t)(srv_trim - srv_min)) / ANGLE_SCALE; |
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} |
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/*
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return an output pwm giving an range for a servo channel |
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*/ |
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uint16_t AP_IOMCU_FW::mix_output_range(uint8_t channel, int16_t value) const |
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{ |
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const uint16_t &srv_min = mixing.servo_min[channel]; |
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const uint16_t &srv_max = mixing.servo_max[channel]; |
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const uint16_t &reversed = mixing.servo_reversed[channel]; |
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value = constrain_int16(value, 0, RANGE_SCALE); |
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if (reversed) { |
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value = RANGE_SCALE - value; |
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} |
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return srv_min + ((int32_t)value * (int32_t)(srv_max - srv_min)) / RANGE_SCALE; |
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} |
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/*
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elevon and vtail mixer |
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*/ |
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int16_t AP_IOMCU_FW::mix_elevon_vtail(int16_t angle1, int16_t angle2, bool first_output) const |
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{ |
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if (first_output) { |
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return (angle2 - angle1) * mixing.mixing_gain / 1000; |
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} |
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return (angle1 + angle2) * mixing.mixing_gain / 1000; |
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} |
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/*
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run mixer. This is used when FMU is not providing inputs, or when |
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the OVERRIDE_CHAN is high. It allows for manual fixed wing flight |
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*/ |
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void AP_IOMCU_FW::run_mixer(void) |
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{ |
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int16_t rcin[4] {}; |
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int16_t &roll = rcin[0]; |
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int16_t &pitch = rcin[1]; |
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int16_t &throttle = rcin[2]; |
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int16_t &rudder = rcin[3]; |
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// get RC input angles
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for (uint8_t i=0;i<4; i++) { |
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if (mixing.rc_channel[i] > 0 && mixing.rc_channel[i] <= IOMCU_MAX_CHANNELS) { |
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uint8_t chan = mixing.rc_channel[i]-1; |
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if (i == 2 && !mixing.throttle_is_angle) { |
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rcin[i] = mix_input_range(i, rc_input.pwm[chan]); |
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} else { |
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rcin[i] = mix_input_angle(i, rc_input.pwm[chan]); |
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} |
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} |
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} |
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for (uint8_t i=0; i<IOMCU_MAX_CHANNELS; i++) { |
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SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)mixing.servo_function[i]; |
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uint16_t &pwm = reg_direct_pwm.pwm[i]; |
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switch (function) { |
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case SRV_Channel::k_manual: |
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pwm = rc_input.pwm[i]; |
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break; |
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case SRV_Channel::k_rcin1 ... SRV_Channel::k_rcin16: |
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pwm = rc_input.pwm[(uint8_t)(function - SRV_Channel::k_rcin1)]; |
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break; |
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case SRV_Channel::k_aileron: |
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case SRV_Channel::k_aileron_with_input: |
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case SRV_Channel::k_flaperon_left: |
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case SRV_Channel::k_flaperon_right: |
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pwm = mix_output_angle(i, roll); |
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break; |
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case SRV_Channel::k_elevator: |
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case SRV_Channel::k_elevator_with_input: |
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pwm = mix_output_angle(i, pitch); |
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break; |
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case SRV_Channel::k_rudder: |
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case SRV_Channel::k_steering: |
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pwm = mix_output_angle(i, rudder); |
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break; |
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case SRV_Channel::k_throttle: |
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case SRV_Channel::k_throttleLeft: |
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case SRV_Channel::k_throttleRight: |
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if (mixing.throttle_is_angle) { |
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pwm = mix_output_angle(i, throttle); |
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} else { |
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pwm = mix_output_range(i, throttle); |
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} |
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break; |
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case SRV_Channel::k_flap: |
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case SRV_Channel::k_flap_auto: |
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// zero flaps
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pwm = mix_output_range(i, 0); |
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break; |
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case SRV_Channel::k_elevon_left: |
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case SRV_Channel::k_dspoilerLeft1: |
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case SRV_Channel::k_dspoilerLeft2: |
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// treat differential spoilers as elevons
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pwm = mix_output_angle(i, mix_elevon_vtail(roll, pitch, true)); |
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break; |
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case SRV_Channel::k_elevon_right: |
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case SRV_Channel::k_dspoilerRight1: |
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case SRV_Channel::k_dspoilerRight2: |
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// treat differential spoilers as elevons
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pwm = mix_output_angle(i, mix_elevon_vtail(roll, pitch, false)); |
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break; |
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case SRV_Channel::k_vtail_left: |
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pwm = mix_output_angle(i, mix_elevon_vtail(rudder, pitch, false)); |
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break; |
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case SRV_Channel::k_vtail_right: |
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pwm = mix_output_angle(i, mix_elevon_vtail(rudder, pitch, true)); |
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break; |
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default: |
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break; |
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} |
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} |
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} |
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