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239 lines
8.5 KiB
239 lines
8.5 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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static uint8_t failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling |
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extern RC_Channel* rc_ch[8]; |
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static void init_rc_in() |
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{ |
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// set rc channel ranges |
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g.channel_roll.set_angle(SERVO_MAX); |
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g.channel_pitch.set_angle(SERVO_MAX); |
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g.channel_rudder.set_angle(SERVO_MAX); |
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g.channel_throttle.set_range(0, 100); |
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// set rc dead zones |
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g.channel_roll.set_dead_zone(60); |
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g.channel_pitch.set_dead_zone(60); |
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g.channel_rudder.set_dead_zone(60); |
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g.channel_throttle.set_dead_zone(6); |
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//g.channel_roll.dead_zone = 60; |
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//g.channel_pitch.dead_zone = 60; |
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//g.channel_rudder.dead_zone = 60; |
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//g.channel_throttle.dead_zone = 6; |
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rc_ch[CH_1] = &g.channel_roll; |
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rc_ch[CH_2] = &g.channel_pitch; |
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rc_ch[CH_3] = &g.channel_throttle; |
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rc_ch[CH_4] = &g.channel_rudder; |
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rc_ch[CH_5] = &g.rc_5; |
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rc_ch[CH_6] = &g.rc_6; |
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rc_ch[CH_7] = &g.rc_7; |
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rc_ch[CH_8] = &g.rc_8; |
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//set auxiliary ranges |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12); |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 |
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update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11); |
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#else |
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update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8); |
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#endif |
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} |
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static void init_rc_out() |
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{ |
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hal.rcout->enable_ch(CH_1); |
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hal.rcout->enable_ch(CH_2); |
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hal.rcout->enable_ch(CH_3); |
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hal.rcout->enable_ch(CH_4); |
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enable_aux_servos(); |
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// Initialization of servo outputs |
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servo_write(CH_1, g.channel_roll.radio_trim); |
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servo_write(CH_2, g.channel_pitch.radio_trim); |
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servo_write(CH_3, g.channel_throttle.radio_min); |
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servo_write(CH_4, g.channel_rudder.radio_trim); |
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servo_write(CH_5, g.rc_5.radio_trim); |
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servo_write(CH_6, g.rc_6.radio_trim); |
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servo_write(CH_7, g.rc_7.radio_trim); |
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servo_write(CH_8, g.rc_8.radio_trim); |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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servo_write(CH_9, g.rc_9.radio_trim); |
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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 = hal.rcin->read(CH_ROLL); |
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elevon.ch2_temp = hal.rcin->read(CH_PITCH); |
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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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g.channel_roll.set_pwm_no_deadzone(pwm_roll); |
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g.channel_pitch.set_pwm_no_deadzone(pwm_pitch); |
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g.channel_throttle.set_pwm_no_deadzone(hal.rcin->read(CH_3)); |
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g.channel_rudder.set_pwm_no_deadzone(hal.rcin->read(CH_4)); |
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} else { |
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g.channel_roll.set_pwm(pwm_roll); |
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g.channel_pitch.set_pwm(pwm_pitch); |
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g.channel_throttle.set_pwm(hal.rcin->read(CH_3)); |
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g.channel_rudder.set_pwm(hal.rcin->read(CH_4)); |
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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(g.channel_throttle.radio_in); |
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g.channel_throttle.servo_out = g.channel_throttle.control_in; |
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if (g.throttle_nudge && g.channel_throttle.servo_out > 50) { |
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float nudge = (g.channel_throttle.servo_out - 50) * 0.02; |
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if (alt_control_airspeed()) { |
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airspeed_nudge_cm = (g.flybywire_airspeed_max * 100 - g.airspeed_cruise_cm) * nudge; |
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} else { |
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throttle_nudge = (g.throttle_max - g.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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* cliSerial->printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), |
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* (int)g.rc_1.control_in, |
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* (int)g.rc_2.control_in, |
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* (int)g.rc_3.control_in, |
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* (int)g.rc_4.control_in); |
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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 (rc_override_active) { |
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if (millis() - last_heartbeat_ms > FAILSAFE_SHORT_TIME) { |
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ch3_failsafe = true; |
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} else { |
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ch3_failsafe = 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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failsafeCounter++; |
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if (failsafeCounter == 9) { |
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gcs_send_text_fmt(PSTR("MSG FS ON %u"), (unsigned)pwm); |
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}else if(failsafeCounter == 10) { |
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ch3_failsafe = true; |
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}else if (failsafeCounter > 10) { |
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failsafeCounter = 11; |
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} |
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}else if(failsafeCounter > 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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failsafeCounter--; |
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if (failsafeCounter > 3) { |
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failsafeCounter = 3; |
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} |
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if (failsafeCounter == 1) { |
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gcs_send_text_fmt(PSTR("MSG FS OFF %u"), (unsigned)pwm); |
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} else if(failsafeCounter == 0) { |
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ch3_failsafe = 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 = (g.channel_roll.radio_max - g.channel_roll.radio_min)/5; |
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int16_t trim_pitch_range = (g.channel_pitch.radio_max - g.channel_pitch.radio_min)/5; |
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if (g.channel_roll.radio_in < g.channel_roll.radio_min+trim_roll_range || |
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g.channel_roll.radio_in > g.channel_roll.radio_max-trim_roll_range || |
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g.channel_pitch.radio_in < g.channel_pitch.radio_min+trim_pitch_range || |
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g.channel_pitch.radio_in > g.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 (g.channel_roll.radio_in != 0) { |
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g.channel_roll.radio_trim = g.channel_roll.radio_in; |
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} |
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if (g.channel_pitch.radio_in != 0) { |
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g.channel_pitch.radio_trim = g.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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g.channel_roll.radio_trim = center; |
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g.channel_pitch.radio_trim = center; |
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} |
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if (g.channel_rudder.radio_in != 0) { |
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g.channel_rudder.radio_trim = g.channel_rudder.radio_in; |
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} |
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// save to eeprom |
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g.channel_roll.save_eeprom(); |
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g.channel_pitch.save_eeprom(); |
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g.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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