2016-01-14 15:30:56 -04:00
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#include "Sub.h"
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2015-12-30 18:57:56 -04:00
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2017-04-05 17:25:03 -03:00
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// enable_motor_output() - enable and output lowest possible value to motors
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void Sub::enable_motor_output()
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{
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motors.output_min();
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}
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2015-12-30 18:57:56 -04:00
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// motors_output - send output to motors library which will adjust and send to ESCs and servos
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2016-01-14 15:30:56 -04:00
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void Sub::motors_output()
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2015-12-30 18:57:56 -04:00
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{
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2019-09-23 13:41:30 -03:00
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// Motor detection mode controls the thrusters directly
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if (control_mode == MOTOR_DETECT){
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return;
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}
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2015-12-30 18:57:56 -04:00
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// check if we are performing the motor test
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if (ap.motor_test) {
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2018-04-19 16:12:42 -03:00
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verify_motor_test();
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} else {
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motors.set_interlock(true);
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motors.output();
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2015-12-30 18:57:56 -04:00
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}
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}
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2018-04-19 16:12:42 -03:00
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// Initialize new style motor test
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// Perform checks to see if it is ok to begin the motor test
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// Returns true if motor test has begun
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bool Sub::init_motor_test()
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{
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uint32_t tnow = AP_HAL::millis();
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// Ten second cooldown period required with no do_set_motor requests required
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// after failure.
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if (tnow < last_do_motor_test_fail_ms + 10000 && last_do_motor_test_fail_ms > 0) {
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2019-09-16 11:02:59 -03:00
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gcs().send_text(MAV_SEVERITY_CRITICAL, "10 second cooldown required after motor test");
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2019-03-19 23:29:21 -03:00
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return false;
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2018-04-19 16:12:42 -03:00
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}
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// check if safety switch has been pushed
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if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
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gcs().send_text(MAV_SEVERITY_CRITICAL,"Disarm hardware safety switch before testing motors.");
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return false;
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}
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// Make sure we are on the ground
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if (!motors.armed()) {
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gcs().send_text(MAV_SEVERITY_WARNING, "Arm motors before testing motors.");
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return false;
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}
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enable_motor_output(); // set all motor outputs to zero
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ap.motor_test = true;
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return true;
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}
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// Verify new style motor test
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// The motor test will fail if the interval between received
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// MAV_CMD_DO_SET_MOTOR requests exceeds a timeout period
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// Returns true if it is ok to proceed with new style motor test
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bool Sub::verify_motor_test()
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{
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bool pass = true;
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// Require at least 2 Hz incoming do_set_motor requests
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if (AP_HAL::millis() > last_do_motor_test_ms + 500) {
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2019-07-08 14:47:57 -03:00
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gcs().send_text(MAV_SEVERITY_INFO, "Motor test timed out!");
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2018-04-19 16:12:42 -03:00
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pass = false;
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}
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if (!pass) {
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ap.motor_test = false;
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2020-02-19 14:31:12 -04:00
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arming.disarm(); // disarm motors
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2018-04-19 16:12:42 -03:00
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last_do_motor_test_fail_ms = AP_HAL::millis();
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return false;
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}
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return true;
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}
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bool Sub::handle_do_motor_test(mavlink_command_long_t command) {
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last_do_motor_test_ms = AP_HAL::millis();
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// If we are not already testing motors, initialize test
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2019-09-16 21:54:38 -03:00
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static uint32_t tLastInitializationFailed = 0;
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2018-04-19 16:12:42 -03:00
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if(!ap.motor_test) {
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2019-09-16 21:54:38 -03:00
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// Do not allow initializations attempt under 2 seconds
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// If one fails, we need to give the user time to fix the issue
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// instead of spamming error messages
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if (AP_HAL::millis() > (tLastInitializationFailed + 2000)) {
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if (!init_motor_test()) {
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gcs().send_text(MAV_SEVERITY_WARNING, "motor test initialization failed!");
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tLastInitializationFailed = AP_HAL::millis();
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return false; // init fail
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}
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} else {
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return false;
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2018-04-19 16:12:42 -03:00
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}
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}
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float motor_number = command.param1;
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float throttle_type = command.param2;
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float throttle = command.param3;
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// float timeout_s = command.param4; // not used
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// float motor_count = command.param5; // not used
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float test_type = command.param6;
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if (!is_equal(test_type, (float)MOTOR_TEST_ORDER_BOARD)) {
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gcs().send_text(MAV_SEVERITY_WARNING, "bad test type %0.2f", (double)test_type);
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return false; // test type not supported here
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}
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if (is_equal(throttle_type, (float)MOTOR_TEST_THROTTLE_PILOT)) {
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gcs().send_text(MAV_SEVERITY_WARNING, "bad throttle type %0.2f", (double)throttle_type);
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return false; // throttle type not supported here
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}
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if (is_equal(throttle_type, (float)MOTOR_TEST_THROTTLE_PWM)) {
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return motors.output_test_num(motor_number, throttle); // true if motor output is set
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}
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if (is_equal(throttle_type, (float)MOTOR_TEST_THROTTLE_PERCENT)) {
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throttle = constrain_float(throttle, 0.0f, 100.0f);
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throttle = channel_throttle->get_radio_min() + throttle / 100.0f * (channel_throttle->get_radio_max() - channel_throttle->get_radio_min());
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return motors.output_test_num(motor_number, throttle); // true if motor output is set
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}
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return false;
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}
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2016-10-11 00:10:56 -03:00
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// translate wpnav roll/pitch outputs to lateral/forward
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2017-02-03 17:33:27 -04:00
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void Sub::translate_wpnav_rp(float &lateral_out, float &forward_out)
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{
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// get roll and pitch targets in centidegrees
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int32_t lateral = wp_nav.get_roll();
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int32_t forward = -wp_nav.get_pitch(); // output is reversed
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// constrain target forward/lateral values
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// The outputs of wp_nav.get_roll and get_pitch should already be constrained to these values
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lateral = constrain_int16(lateral, -aparm.angle_max, aparm.angle_max);
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forward = constrain_int16(forward, -aparm.angle_max, aparm.angle_max);
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// Normalize
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lateral_out = (float)lateral/(float)aparm.angle_max;
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forward_out = (float)forward/(float)aparm.angle_max;
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2016-10-11 00:10:56 -03:00
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}
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2017-03-04 15:41:26 -04:00
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// translate wpnav roll/pitch outputs to lateral/forward
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void Sub::translate_circle_nav_rp(float &lateral_out, float &forward_out)
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{
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// get roll and pitch targets in centidegrees
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int32_t lateral = circle_nav.get_roll();
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int32_t forward = -circle_nav.get_pitch(); // output is reversed
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// constrain target forward/lateral values
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2017-03-06 22:29:03 -04:00
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lateral = constrain_int16(lateral, -aparm.angle_max, aparm.angle_max);
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forward = constrain_int16(forward, -aparm.angle_max, aparm.angle_max);
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// Normalize
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lateral_out = (float)lateral/(float)aparm.angle_max;
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forward_out = (float)forward/(float)aparm.angle_max;
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}
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// translate pos_control roll/pitch outputs to lateral/forward
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void Sub::translate_pos_control_rp(float &lateral_out, float &forward_out)
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{
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// get roll and pitch targets in centidegrees
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int32_t lateral = pos_control.get_roll();
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int32_t forward = -pos_control.get_pitch(); // output is reversed
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// constrain target forward/lateral values
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2017-03-04 15:41:26 -04:00
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lateral = constrain_int16(lateral, -aparm.angle_max, aparm.angle_max);
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forward = constrain_int16(forward, -aparm.angle_max, aparm.angle_max);
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// Normalize
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lateral_out = (float)lateral/(float)aparm.angle_max;
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forward_out = (float)forward/(float)aparm.angle_max;
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}
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