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126 lines
3.6 KiB
126 lines
3.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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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_steer = RC_Channel::rc_channel(rcmap.roll()-1); |
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channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1); |
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channel_learn = RC_Channel::rc_channel(g.learn_channel-1); |
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// set rc channel ranges |
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channel_steer->set_angle(SERVO_MAX); |
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channel_throttle->set_angle(100); |
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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_steer->set_default_dead_zone(30); |
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channel_throttle->set_default_dead_zone(30); |
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//set auxiliary ranges |
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update_aux(); |
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} |
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static void init_rc_out() |
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{ |
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RC_Channel::rc_channel(CH_1)->enable_out(); |
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RC_Channel::rc_channel(CH_3)->enable_out(); |
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RC_Channel::output_trim_all(); |
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// setup PWM values to send if the FMU firmware dies |
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RC_Channel::setup_failsafe_trim_all(); |
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} |
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static void read_radio() |
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{ |
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if (!hal.rcin->new_input()) { |
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control_failsafe(channel_throttle->radio_in); |
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return; |
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} |
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failsafe.last_valid_rc_ms = hal.scheduler->millis(); |
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RC_Channel::set_pwm_all(); |
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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 (abs(channel_throttle->servo_out) > 50) { |
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throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((fabsf(channel_throttle->norm_input())-0.5) / 0.5); |
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} else { |
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throttle_nudge = 0; |
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} |
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if (g.skid_steer_in) { |
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// convert the two radio_in values from skid steering values |
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/* |
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mixing rule: |
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steering = motor1 - motor2 |
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throttle = 0.5*(motor1 + motor2) |
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motor1 = throttle + 0.5*steering |
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motor2 = throttle - 0.5*steering |
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*/ |
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float motor1 = channel_steer->norm_input(); |
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float motor2 = channel_throttle->norm_input(); |
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float steering_scaled = motor1 - motor2; |
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float throttle_scaled = 0.5f*(motor1 + motor2); |
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int16_t steer = channel_steer->radio_trim; |
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int16_t thr = channel_throttle->radio_trim; |
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if (steering_scaled > 0.0f) { |
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steer += steering_scaled*(channel_steer->radio_max-channel_steer->radio_trim); |
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} else { |
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steer += steering_scaled*(channel_steer->radio_trim-channel_steer->radio_min); |
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} |
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if (throttle_scaled > 0.0f) { |
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thr += throttle_scaled*(channel_throttle->radio_max-channel_throttle->radio_trim); |
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} else { |
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thr += throttle_scaled*(channel_throttle->radio_trim-channel_throttle->radio_min); |
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} |
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channel_steer->set_pwm(steer); |
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channel_throttle->set_pwm(thr); |
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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.fs_throttle_enabled) { |
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// no throttle failsafe |
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return; |
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} |
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// Check for failsafe condition based on loss of GCS control |
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if (rc_override_active) { |
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failsafe_trigger(FAILSAFE_EVENT_RC, (millis() - failsafe.rc_override_timer) > 1500); |
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} else if (g.fs_throttle_enabled) { |
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bool failed = pwm < (uint16_t)g.fs_throttle_value; |
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if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 2000) { |
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failed = true; |
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} |
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failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed); |
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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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// Store control surface trim values |
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// --------------------------------- |
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if (channel_steer->radio_in > 1400) { |
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channel_steer->radio_trim = channel_steer->radio_in; |
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// save to eeprom |
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channel_steer->save_eeprom(); |
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} |
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} |
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static void trim_radio() |
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{ |
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for (int 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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