ardupilot/ArduPlane/radio.pde

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

//Function that will read the radio data, limit servos and trigger a failsafe
// ----------------------------------------------------------------------------
static uint8_t failsafeCounter = 0;                // we wait a second to take over the throttle and send the plane circling

/*
  allow for runtime change of control channel ordering
 */
static void set_control_channels(void)
{
    channel_roll     = RC_Channel::rc_channel(rcmap.roll()-1);
    channel_pitch    = RC_Channel::rc_channel(rcmap.pitch()-1);
    channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
    channel_rudder   = RC_Channel::rc_channel(rcmap.yaw()-1);
}

/*
  initialise RC input channels
 */
static void init_rc_in()
{
    // set rc channel ranges
    channel_roll->set_angle(SERVO_MAX);
    channel_pitch->set_angle(SERVO_MAX);
    channel_rudder->set_angle(SERVO_MAX);
    channel_throttle->set_range(0, 100);

    // set rc dead zones
    channel_roll->set_dead_zone(60);
    channel_pitch->set_dead_zone(60);
    channel_rudder->set_dead_zone(60);
    channel_throttle->set_dead_zone(6);

    //channel_roll->dead_zone  = 60;
    //channel_pitch->dead_zone     = 60;
    //channel_rudder->dead_zone    = 60;
    //channel_throttle->dead_zone = 6;

    //set auxiliary ranges
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
    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);
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
    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);
#else
    update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
#endif
}

/*
  initialise RC output channels
 */
static void init_rc_out()
{
    channel_roll->enable_out();
    channel_pitch->enable_out();
    channel_throttle->enable_out();
    channel_rudder->enable_out();
    enable_aux_servos();

    // Initialization of servo outputs
    for (uint8_t i=0; i<8; i++) {
        RC_Channel::rc_channel(i)->output_trim();
    }

#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
    servo_write(CH_9,   g.rc_9.radio_trim);
    servo_write(CH_10,  g.rc_10.radio_trim);
    servo_write(CH_11,  g.rc_11.radio_trim);
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
    servo_write(CH_12,  g.rc_12.radio_trim);
#endif
}

static void read_radio()
{
    elevon.ch1_temp = channel_roll->read();
    elevon.ch2_temp = channel_pitch->read();
    uint16_t pwm_roll, pwm_pitch;

    if (g.mix_mode == 0) {
        pwm_roll = elevon.ch1_temp;
        pwm_pitch = elevon.ch2_temp;
    }else{
        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;
        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;
    }
    
    if (control_mode == TRAINING) {
        // in training mode we don't want to use a deadzone, as we
        // want manual pass through when not exceeding attitude limits
        channel_roll->set_pwm_no_deadzone(pwm_roll);
        channel_pitch->set_pwm_no_deadzone(pwm_pitch);
        channel_throttle->set_pwm_no_deadzone(channel_throttle->read());
        channel_rudder->set_pwm_no_deadzone(channel_rudder->read());
    } else {
        channel_roll->set_pwm(pwm_roll);
        channel_pitch->set_pwm(pwm_pitch);
        channel_throttle->set_pwm(channel_throttle->read());
        channel_rudder->set_pwm(channel_rudder->read());
    }

    g.rc_5.set_pwm(hal.rcin->read(CH_5));
    g.rc_6.set_pwm(hal.rcin->read(CH_6));
    g.rc_7.set_pwm(hal.rcin->read(CH_7));
    g.rc_8.set_pwm(hal.rcin->read(CH_8));

    control_failsafe(channel_throttle->radio_in);

    channel_throttle->servo_out = channel_throttle->control_in;

    if (g.throttle_nudge && channel_throttle->servo_out > 50) {
        float nudge = (channel_throttle->servo_out - 50) * 0.02;
        if (alt_control_airspeed()) {
            airspeed_nudge_cm = (g.flybywire_airspeed_max * 100 - g.airspeed_cruise_cm) * nudge;
        } else {
            throttle_nudge = (g.throttle_max - g.throttle_cruise) * nudge;
        }
    } else {
        airspeed_nudge_cm = 0;
        throttle_nudge = 0;
    }

    /*
     *  cliSerial->printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"),
     *                       (int)g.rc_1.control_in,
     *                       (int)g.rc_2.control_in,
     *                       (int)g.rc_3.control_in,
     *                       (int)g.rc_4.control_in);
     */
}

static void control_failsafe(uint16_t pwm)
{
    if(g.throttle_fs_enabled == 0)
        return;

    // Check for failsafe condition based on loss of GCS control
    if (rc_override_active) {
        if (millis() - last_heartbeat_ms > FAILSAFE_SHORT_TIME) {
            ch3_failsafe = true;
        } else {
            ch3_failsafe = false;
        }

        //Check for failsafe and debounce funky reads
    } else if (g.throttle_fs_enabled) {
        if (pwm < (unsigned)g.throttle_fs_value) {
            // we detect a failsafe from radio
            // throttle has dropped below the mark
            failsafeCounter++;
            if (failsafeCounter == 9) {
                gcs_send_text_fmt(PSTR("MSG FS ON %u"), (unsigned)pwm);
            }else if(failsafeCounter == 10) {
                ch3_failsafe = true;
            }else if (failsafeCounter > 10) {
                failsafeCounter = 11;
            }

        }else if(failsafeCounter > 0) {
            // we are no longer in failsafe condition
            // but we need to recover quickly
            failsafeCounter--;
            if (failsafeCounter > 3) {
                failsafeCounter = 3;
            }
            if (failsafeCounter == 1) {
                gcs_send_text_fmt(PSTR("MSG FS OFF %u"), (unsigned)pwm);
            } else if(failsafeCounter == 0) {
                ch3_failsafe = false;
            }
        }
    }
}

static void trim_control_surfaces()
{
    read_radio();
    int16_t trim_roll_range = (channel_roll->radio_max - channel_roll->radio_min)/5;
    int16_t trim_pitch_range = (channel_pitch->radio_max - channel_pitch->radio_min)/5;
    if (channel_roll->radio_in < channel_roll->radio_min+trim_roll_range ||
        channel_roll->radio_in > channel_roll->radio_max-trim_roll_range ||
        channel_pitch->radio_in < channel_pitch->radio_min+trim_pitch_range ||
        channel_pitch->radio_in > channel_pitch->radio_max-trim_pitch_range) {
        // don't trim for extreme values - if we attempt to trim so
        // there is less than 20 percent range left then assume the
        // sticks are not properly centered. This also prevents
        // problems with starting APM with the TX off
        return;
    }

    // Store control surface trim values
    // ---------------------------------
    if(g.mix_mode == 0) {
        if (channel_roll->radio_in != 0) {
            channel_roll->radio_trim = channel_roll->radio_in;
        }
        if (channel_pitch->radio_in != 0) {
            channel_pitch->radio_trim = channel_pitch->radio_in;
        }

        // the secondary aileron/elevator is trimmed only if it has a
        // corresponding transmitter input channel, which k_aileron
        // doesn't have
        RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_aileron_with_input);
        RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_elevator_with_input);
    } else{
        if (elevon.ch1_temp != 0) {
            elevon.trim1 = elevon.ch1_temp;
        }
        if (elevon.ch2_temp != 0) {
            elevon.trim2 = elevon.ch2_temp;
        }
        //Recompute values here using new values for elevon1_trim and elevon2_trim
        //We cannot use radio_in[CH_ROLL] and radio_in[CH_PITCH] values from read_radio() because the elevon trim values have changed
        uint16_t center                         = 1500;
        channel_roll->radio_trim       = center;
        channel_pitch->radio_trim      = center;
    }
    if (channel_rudder->radio_in != 0) {
        channel_rudder->radio_trim = channel_rudder->radio_in;
    }

    // save to eeprom
    channel_roll->save_eeprom();
    channel_pitch->save_eeprom();
    channel_rudder->save_eeprom();
}

static void trim_radio()
{
    for (uint8_t y = 0; y < 30; y++) {
        read_radio();
    }

    trim_control_surfaces();
}