ardupilot/Rover/radio.cpp

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#include "Rover.h"
/*
allow for runtime change of control channel ordering
*/
void Rover::set_control_channels(void)
{
// check change on RCMAP
channel_steer = rc().channel(rcmap.roll()-1);
channel_throttle = rc().channel(rcmap.throttle()-1);
channel_lateral = rc().channel(rcmap.yaw()-1);
// set rc channel ranges
channel_steer->set_angle(SERVO_MAX);
channel_throttle->set_angle(100);
if (channel_lateral != nullptr) {
channel_lateral->set_angle(100);
}
// walking robots rc input init
channel_roll = rc().find_channel_for_option(RC_Channel::AUX_FUNC::ROLL);
channel_pitch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::PITCH);
channel_walking_height = rc().find_channel_for_option(RC_Channel::AUX_FUNC::WALKING_HEIGHT);
if (channel_roll != nullptr) {
channel_roll->set_angle(SERVO_MAX);
channel_roll->set_default_dead_zone(30);
}
if (channel_pitch != nullptr) {
channel_pitch->set_angle(SERVO_MAX);
channel_pitch->set_default_dead_zone(30);
}
if (channel_walking_height != nullptr) {
channel_walking_height->set_angle(SERVO_MAX);
channel_walking_height->set_default_dead_zone(30);
}
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// sailboat rc input init
g2.sailboat.init_rc_in();
// Allow to reconfigure output when not armed
if (!arming.is_armed()) {
g2.motors.setup_servo_output();
// For a rover safety is TRIM throttle
g2.motors.setup_safety_output();
}
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// setup correct scaling for ESCs like the UAVCAN ESCs which
// take a proportion of speed. Default to 1000 to 2000 for systems without
// a k_throttle output
hal.rcout->set_esc_scaling(1000, 2000);
g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
}
void Rover::init_rc_in()
{
// set rc dead zones
channel_steer->set_default_dead_zone(30);
channel_throttle->set_default_dead_zone(30);
if (channel_lateral != nullptr) {
channel_lateral->set_default_dead_zone(30);
}
}
/*
check for driver input on rudder/steering stick for arming/disarming
*/
void Rover::rudder_arm_disarm_check()
{
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// check if arming/disarm using rudder is allowed
const AP_Arming::RudderArming arming_rudder = arming.get_rudder_arming_type();
if (arming_rudder == AP_Arming::RudderArming::IS_DISABLED) {
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return;
}
// In Rover we need to check that its set to the throttle trim and within the DZ
// if throttle is not within trim dz, then pilot cannot rudder arm/disarm
if (!channel_throttle->in_trim_dz()) {
rudder_arm_timer = 0;
return;
}
// check if arming/disarming allowed from this mode
if (!control_mode->allows_arming_from_transmitter()) {
rudder_arm_timer = 0;
return;
}
if (!arming.is_armed()) {
// when not armed, full right rudder starts arming counter
if (channel_steer->get_control_in() > 4000) {
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const uint32_t now = millis();
if (rudder_arm_timer == 0 ||
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now - rudder_arm_timer < ARM_DELAY_MS) {
if (rudder_arm_timer == 0) {
rudder_arm_timer = now;
}
} else {
// time to arm!
arming.arm(AP_Arming::Method::RUDDER);
rudder_arm_timer = 0;
}
} else {
// not at full right rudder
rudder_arm_timer = 0;
}
} else if ((arming_rudder == AP_Arming::RudderArming::ARMDISARM) && !g2.motors.active()) {
// when armed and motor not active (not moving), full left rudder starts disarming counter
if (channel_steer->get_control_in() < -4000) {
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const uint32_t now = millis();
if (rudder_arm_timer == 0 ||
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now - rudder_arm_timer < ARM_DELAY_MS) {
if (rudder_arm_timer == 0) {
rudder_arm_timer = now;
}
} else {
// time to disarm!
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arming.disarm(AP_Arming::Method::RUDDER);
rudder_arm_timer = 0;
}
} else {
// not at full left rudder
rudder_arm_timer = 0;
}
}
}
void Rover::read_radio()
{
if (!rc().read_input()) {
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// check if we lost RC link
radio_failsafe_check(channel_throttle->get_radio_in());
return;
}
failsafe.last_valid_rc_ms = AP_HAL::millis();
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// check that RC value are valid
radio_failsafe_check(channel_throttle->get_radio_in());
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// check if we try to do RC arm/disarm
rudder_arm_disarm_check();
}
void Rover::radio_failsafe_check(uint16_t pwm)
{
if (!g.fs_throttle_enabled) {
// radio failsafe disabled
return;
}
bool failed = pwm < static_cast<uint16_t>(g.fs_throttle_value);
if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 500) {
failed = true;
}
failsafe_trigger(FAILSAFE_EVENT_THROTTLE, "Radio", failed);
}