2015-05-29 23:12:49 -03:00
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#include "Copter.h"
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2015-04-16 01:27:06 -03:00
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/*****************************************************************************
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2016-07-25 15:45:29 -03:00
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* Functions to check and perform ESC calibration
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2015-04-16 01:27:06 -03:00
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*****************************************************************************/
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#define ESC_CALIBRATION_HIGH_THROTTLE 950
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// enum for ESC CALIBRATION
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enum ESCCalibrationModes {
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ESCCAL_NONE = 0,
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ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH = 1,
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ESCCAL_PASSTHROUGH_ALWAYS = 2,
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2015-07-12 21:21:32 -03:00
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ESCCAL_AUTO = 3,
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ESCCAL_DISABLED = 9,
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2015-04-16 01:27:06 -03:00
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};
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// check if we should enter esc calibration mode
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2015-05-29 23:12:49 -03:00
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void Copter::esc_calibration_startup_check()
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2015-04-16 01:27:06 -03:00
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{
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2017-11-27 00:03:29 -04:00
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if (motors->get_pwm_type() >= AP_Motors::PWM_TYPE_BRUSHED) {
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2017-06-04 05:02:30 -03:00
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// ESC cal not valid for brushed motors
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return;
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}
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2015-07-15 03:16:11 -03:00
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#if FRAME_CONFIG != HELI_FRAME
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2017-04-14 21:46:25 -03:00
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// delay up to 2 second for first radio input
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uint8_t i = 0;
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while ((i++ < 100) && (last_radio_update_ms == 0)) {
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delay(20);
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read_radio();
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}
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2015-04-16 01:27:06 -03:00
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// exit immediately if pre-arm rc checks fail
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2017-08-20 03:24:33 -03:00
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if (!arming.rc_calibration_checks(true)) {
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2015-04-16 01:27:06 -03:00
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// clear esc flag for next time
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2015-07-12 21:21:32 -03:00
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if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) {
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2015-04-16 01:27:06 -03:00
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g.esc_calibrate.set_and_save(ESCCAL_NONE);
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}
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return;
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}
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// check ESC parameter
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switch (g.esc_calibrate) {
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case ESCCAL_NONE:
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// check if throttle is high
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ArduCopter: Fix up after refactoring RC_Channel class
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to get and set functionsss
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
c.min_max_configured() // return true if min and max are configured
Because data members of RC_Channels are now private and so cannot be written directly
some overloads are provided in the Plane classes to provide the old functionality
new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);
new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;
Rename functions
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
2016-05-08 05:46:59 -03:00
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if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
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2015-04-16 01:27:06 -03:00
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// we will enter esc_calibrate mode on next reboot
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g.esc_calibrate.set_and_save(ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
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// send message to gcs
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2017-07-08 21:56:49 -03:00
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gcs().send_text(MAV_SEVERITY_CRITICAL,"ESC calibration: Restart board");
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2015-04-16 01:27:06 -03:00
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// turn on esc calibration notification
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AP_Notify::flags.esc_calibration = true;
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// block until we restart
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while(1) { delay(5); }
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}
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break;
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case ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH:
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// check if throttle is high
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ArduCopter: Fix up after refactoring RC_Channel class
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to get and set functionsss
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
c.min_max_configured() // return true if min and max are configured
Because data members of RC_Channels are now private and so cannot be written directly
some overloads are provided in the Plane classes to provide the old functionality
new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);
new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;
Rename functions
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
2016-05-08 05:46:59 -03:00
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if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
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2015-04-16 01:27:06 -03:00
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// pass through pilot throttle to escs
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esc_calibration_passthrough();
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}
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break;
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case ESCCAL_PASSTHROUGH_ALWAYS:
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// pass through pilot throttle to escs
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esc_calibration_passthrough();
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break;
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case ESCCAL_AUTO:
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// perform automatic ESC calibration
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esc_calibration_auto();
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break;
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2015-07-12 21:21:32 -03:00
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case ESCCAL_DISABLED:
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2015-04-16 01:27:06 -03:00
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default:
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// do nothing
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break;
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}
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2015-07-12 21:21:32 -03:00
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2015-04-16 01:27:06 -03:00
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// clear esc flag for next time
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2015-07-12 21:21:32 -03:00
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if (g.esc_calibrate != ESCCAL_DISABLED) {
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g.esc_calibrate.set_and_save(ESCCAL_NONE);
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}
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2015-07-15 03:16:11 -03:00
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#endif // FRAME_CONFIG != HELI_FRAME
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2015-04-16 01:27:06 -03:00
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}
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// esc_calibration_passthrough - pass through pilot throttle to escs
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2015-05-29 23:12:49 -03:00
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void Copter::esc_calibration_passthrough()
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2015-04-16 01:27:06 -03:00
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{
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2015-07-15 03:16:11 -03:00
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#if FRAME_CONFIG != HELI_FRAME
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2015-04-16 01:27:06 -03:00
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// clear esc flag for next time
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g.esc_calibrate.set_and_save(ESCCAL_NONE);
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2017-01-09 03:31:26 -04:00
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if (motors->get_pwm_type() >= AP_Motors::PWM_TYPE_ONESHOT) {
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2016-08-29 02:38:14 -03:00
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// run at full speed for oneshot ESCs (actually done on push)
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2017-01-09 03:31:26 -04:00
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motors->set_update_rate(g.rc_speed);
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2016-08-29 02:38:14 -03:00
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} else {
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// reduce update rate to motors to 50Hz
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2017-01-09 03:31:26 -04:00
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motors->set_update_rate(50);
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2016-08-29 02:38:14 -03:00
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}
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2015-04-16 01:27:06 -03:00
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// send message to GCS
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2017-07-08 21:56:49 -03:00
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gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");
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2015-04-16 01:27:06 -03:00
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2017-05-10 02:33:05 -03:00
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// disable safety if requested
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BoardConfig.init_safety();
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2016-08-29 02:38:14 -03:00
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// arm motors
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2017-01-09 03:31:26 -04:00
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motors->armed(true);
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2017-04-29 05:34:01 -03:00
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SRV_Channels::enable_by_mask(motors->get_motor_mask());
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2017-05-22 06:06:32 -03:00
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hal.util->set_soft_armed(true);
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2017-01-25 23:41:33 -04:00
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2015-04-16 01:27:06 -03:00
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while(1) {
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2017-05-09 03:57:40 -03:00
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// flash LEDs
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esc_calibration_notify();
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2015-04-16 01:27:06 -03:00
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// read pilot input
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read_radio();
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2016-08-29 02:38:14 -03:00
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2017-05-10 02:33:05 -03:00
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// we run at high rate to make oneshot ESCs happy. Normal ESCs
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2016-08-29 02:38:14 -03:00
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// will only see pulses at the RC_SPEED
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delay(3);
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2015-04-16 01:27:06 -03:00
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// pass through to motors
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2017-11-02 23:35:14 -03:00
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SRV_Channels::cork();
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2017-01-09 03:31:26 -04:00
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motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
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2017-11-02 23:35:14 -03:00
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SRV_Channels::push();
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2015-04-16 01:27:06 -03:00
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}
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2015-07-15 03:16:11 -03:00
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#endif // FRAME_CONFIG != HELI_FRAME
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2015-04-16 01:27:06 -03:00
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}
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// esc_calibration_auto - calibrate the ESCs automatically using a timer and no pilot input
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2015-05-29 23:12:49 -03:00
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void Copter::esc_calibration_auto()
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2015-04-16 01:27:06 -03:00
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{
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2015-07-15 03:16:11 -03:00
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#if FRAME_CONFIG != HELI_FRAME
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2015-04-16 01:27:06 -03:00
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bool printed_msg = false;
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2017-05-10 02:32:26 -03:00
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// clear esc flag for next time
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g.esc_calibrate.set_and_save(ESCCAL_NONE);
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2017-01-09 03:31:26 -04:00
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if (motors->get_pwm_type() >= AP_Motors::PWM_TYPE_ONESHOT) {
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2016-08-29 02:38:14 -03:00
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// run at full speed for oneshot ESCs (actually done on push)
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2017-01-09 03:31:26 -04:00
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motors->set_update_rate(g.rc_speed);
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2016-08-29 02:38:14 -03:00
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} else {
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// reduce update rate to motors to 50Hz
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2017-01-09 03:31:26 -04:00
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motors->set_update_rate(50);
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2016-08-29 02:38:14 -03:00
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}
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2015-04-16 01:27:06 -03:00
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// send message to GCS
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2017-07-08 21:56:49 -03:00
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gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration");
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2015-04-16 01:27:06 -03:00
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2017-05-10 02:33:05 -03:00
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// disable safety if requested
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BoardConfig.init_safety();
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2015-04-16 01:27:06 -03:00
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// arm and enable motors
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2017-01-09 03:31:26 -04:00
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motors->armed(true);
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2017-04-29 05:34:01 -03:00
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SRV_Channels::enable_by_mask(motors->get_motor_mask());
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2017-05-22 06:06:32 -03:00
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hal.util->set_soft_armed(true);
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2015-04-16 01:27:06 -03:00
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2017-05-09 03:57:40 -03:00
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// flash LEDs
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esc_calibration_notify();
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2015-04-16 01:27:06 -03:00
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// raise throttle to maximum
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delay(10);
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// wait for safety switch to be pressed
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while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
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if (!printed_msg) {
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2017-07-08 21:56:49 -03:00
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gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
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2015-04-16 01:27:06 -03:00
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printed_msg = true;
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}
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2017-11-02 23:35:14 -03:00
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SRV_Channels::cork();
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2017-01-09 03:31:26 -04:00
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motors->set_throttle_passthrough_for_esc_calibration(1.0f);
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2017-11-02 23:35:14 -03:00
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SRV_Channels::push();
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2017-05-09 03:57:40 -03:00
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esc_calibration_notify();
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2016-08-29 02:38:14 -03:00
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delay(3);
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2015-04-16 01:27:06 -03:00
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}
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2016-08-29 02:38:14 -03:00
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// delay for 5 seconds while outputting pulses
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uint32_t tstart = millis();
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while (millis() - tstart < 5000) {
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2017-01-09 03:31:26 -04:00
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motors->set_throttle_passthrough_for_esc_calibration(1.0f);
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2017-05-09 03:57:40 -03:00
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esc_calibration_notify();
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2016-08-29 02:38:14 -03:00
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delay(3);
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}
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2015-04-16 01:27:06 -03:00
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// reduce throttle to minimum
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2017-01-09 03:31:26 -04:00
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motors->set_throttle_passthrough_for_esc_calibration(0.0f);
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2015-04-16 01:27:06 -03:00
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// block until we restart
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2016-08-29 02:38:14 -03:00
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while(1) {
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2017-01-09 03:31:26 -04:00
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motors->set_throttle_passthrough_for_esc_calibration(0.0f);
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2017-05-09 03:57:40 -03:00
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esc_calibration_notify();
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delay(3);
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2016-08-29 02:38:14 -03:00
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}
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2015-07-15 03:16:11 -03:00
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#endif // FRAME_CONFIG != HELI_FRAME
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2015-04-16 01:27:06 -03:00
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}
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2017-05-09 03:57:40 -03:00
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// flash LEDs to notify the user that ESC calibration is happening
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void Copter::esc_calibration_notify()
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{
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AP_Notify::flags.esc_calibration = true;
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uint32_t now = AP_HAL::millis();
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if (now - esc_calibration_notify_update_ms > 20) {
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esc_calibration_notify_update_ms = now;
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update_notify();
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}
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}
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