2015-05-13 00:16:45 -03:00
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#include "Rover.h"
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2013-06-03 06:33:59 -03:00
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/*
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allow for runtime change of control channel ordering
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*/
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2015-05-12 02:03:23 -03:00
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void Rover::set_control_channels(void)
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2013-06-03 06:33:59 -03:00
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{
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2017-07-06 00:06:20 -03:00
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// check change on RCMAP
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2024-09-07 11:22:49 -03:00
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// the library gaurantees that these are non-nullptr:
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channel_steer = &rc().get_roll_channel();
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channel_throttle = &rc().get_throttle_channel();
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channel_lateral = &rc().get_yaw_channel();
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2013-06-03 06:33:59 -03:00
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2016-12-20 09:33:36 -04:00
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// set rc channel ranges
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channel_steer->set_angle(SERVO_MAX);
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2015-10-30 02:56:41 -03:00
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channel_throttle->set_angle(100);
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2019-07-16 17:40:08 -03:00
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if (channel_lateral != nullptr) {
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channel_lateral->set_angle(100);
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}
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2015-10-30 02:56:41 -03:00
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2020-07-22 10:42:56 -03:00
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// walking robots rc input init
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channel_roll = rc().find_channel_for_option(RC_Channel::AUX_FUNC::ROLL);
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channel_pitch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::PITCH);
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2020-08-28 15:51:26 -03:00
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channel_walking_height = rc().find_channel_for_option(RC_Channel::AUX_FUNC::WALKING_HEIGHT);
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2020-07-22 10:42:56 -03:00
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if (channel_roll != nullptr) {
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channel_roll->set_angle(SERVO_MAX);
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channel_roll->set_default_dead_zone(30);
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}
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if (channel_pitch != nullptr) {
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channel_pitch->set_angle(SERVO_MAX);
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channel_pitch->set_default_dead_zone(30);
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}
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2020-08-28 15:51:26 -03:00
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if (channel_walking_height != nullptr) {
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channel_walking_height->set_angle(SERVO_MAX);
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channel_walking_height->set_default_dead_zone(30);
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}
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2020-07-22 10:42:56 -03:00
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2019-05-25 15:42:18 -03:00
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// sailboat rc input init
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g2.sailboat.init_rc_in();
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2019-03-25 20:48:59 -03:00
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// Allow to reconfigure output when not armed
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2017-07-06 00:06:20 -03:00
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if (!arming.is_armed()) {
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2017-07-06 07:01:53 -03:00
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g2.motors.setup_servo_output();
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// For a rover safety is TRIM throttle
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2017-07-06 00:06:20 -03:00
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g2.motors.setup_safety_output();
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2015-10-30 02:56:41 -03:00
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}
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2019-10-17 03:03:01 -03:00
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// setup correct scaling for ESCs like the UAVCAN ESCs which
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2017-05-16 02:16:15 -03:00
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// take a proportion of speed. Default to 1000 to 2000 for systems without
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// a k_throttle output
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hal.rcout->set_esc_scaling(1000, 2000);
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g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
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2013-06-03 09:22:47 -03:00
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}
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2012-04-30 04:17:14 -03:00
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2015-05-12 02:03:23 -03:00
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void Rover::init_rc_in()
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2013-06-03 09:22:47 -03:00
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{
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2016-12-20 09:33:36 -04:00
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// set rc dead zones
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channel_steer->set_default_dead_zone(30);
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channel_throttle->set_default_dead_zone(30);
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2019-07-16 17:40:08 -03:00
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if (channel_lateral != nullptr) {
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channel_lateral->set_default_dead_zone(30);
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}
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2012-04-30 04:17:14 -03:00
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}
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2015-10-30 02:56:41 -03:00
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/*
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check for driver input on rudder/steering stick for arming/disarming
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*/
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void Rover::rudder_arm_disarm_check()
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{
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2018-09-08 00:36:06 -03:00
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// check if arming/disarm using rudder is allowed
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2019-03-07 00:02:01 -04:00
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const AP_Arming::RudderArming arming_rudder = arming.get_rudder_arming_type();
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if (arming_rudder == AP_Arming::RudderArming::IS_DISABLED) {
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2018-09-08 00:36:06 -03:00
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return;
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}
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2015-10-30 02:56:41 -03:00
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// In Rover we need to check that its set to the throttle trim and within the DZ
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// if throttle is not within trim dz, then pilot cannot rudder arm/disarm
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if (!channel_throttle->in_trim_dz()) {
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rudder_arm_timer = 0;
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return;
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}
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2018-01-10 21:54:40 -04:00
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// check if arming/disarming allowed from this mode
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if (!control_mode->allows_arming_from_transmitter()) {
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2015-10-30 02:56:41 -03:00
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rudder_arm_timer = 0;
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return;
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}
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2016-12-20 09:33:36 -04:00
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if (!arming.is_armed()) {
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// when not armed, full right rudder starts arming counter
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if (channel_steer->get_control_in() > 4000) {
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2017-01-31 06:12:26 -04:00
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const uint32_t now = millis();
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2015-10-30 02:56:41 -03:00
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2016-12-20 09:33:36 -04:00
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if (rudder_arm_timer == 0 ||
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2017-11-30 21:54:45 -04:00
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now - rudder_arm_timer < ARM_DELAY_MS) {
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2016-12-20 09:33:36 -04:00
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if (rudder_arm_timer == 0) {
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2015-10-30 02:56:41 -03:00
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rudder_arm_timer = now;
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}
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2016-12-20 09:33:36 -04:00
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} else {
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// time to arm!
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2019-05-03 09:32:42 -03:00
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arming.arm(AP_Arming::Method::RUDDER);
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2016-12-20 09:33:36 -04:00
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rudder_arm_timer = 0;
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}
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} else {
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// not at full right rudder
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rudder_arm_timer = 0;
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}
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2019-03-07 00:02:01 -04:00
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} else if ((arming_rudder == AP_Arming::RudderArming::ARMDISARM) && !g2.motors.active()) {
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2016-12-20 09:33:36 -04:00
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// when armed and motor not active (not moving), full left rudder starts disarming counter
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if (channel_steer->get_control_in() < -4000) {
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2017-01-31 06:12:26 -04:00
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const uint32_t now = millis();
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2015-10-30 02:56:41 -03:00
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2016-12-20 09:33:36 -04:00
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if (rudder_arm_timer == 0 ||
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2017-11-30 21:54:45 -04:00
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now - rudder_arm_timer < ARM_DELAY_MS) {
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2016-12-20 09:33:36 -04:00
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if (rudder_arm_timer == 0) {
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2015-10-30 02:56:41 -03:00
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rudder_arm_timer = now;
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}
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2016-12-20 09:33:36 -04:00
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} else {
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// time to disarm!
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2020-02-21 09:09:57 -04:00
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arming.disarm(AP_Arming::Method::RUDDER);
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2016-12-20 09:33:36 -04:00
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rudder_arm_timer = 0;
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}
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} else {
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// not at full left rudder
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rudder_arm_timer = 0;
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}
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}
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2012-04-30 04:17:14 -03:00
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}
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2015-05-12 02:03:23 -03:00
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void Rover::read_radio()
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2012-04-30 04:17:14 -03:00
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{
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2018-05-07 23:35:08 -03:00
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if (!rc().read_input()) {
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2017-06-19 12:47:13 -03:00
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// check if we lost RC link
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2018-10-31 02:26:19 -03:00
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radio_failsafe_check(channel_throttle->get_radio_in());
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2013-12-19 18:48:36 -04:00
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return;
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}
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2015-11-19 23:04:16 -04:00
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failsafe.last_valid_rc_ms = AP_HAL::millis();
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2017-06-19 12:47:13 -03:00
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// check that RC value are valid
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2018-10-31 02:26:19 -03:00
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radio_failsafe_check(channel_throttle->get_radio_in());
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2012-04-30 04:17:14 -03:00
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2017-06-19 12:47:13 -03:00
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// check if we try to do RC arm/disarm
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2015-10-30 02:56:41 -03:00
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rudder_arm_disarm_check();
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2012-04-30 04:17:14 -03:00
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}
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2018-10-31 02:26:19 -03:00
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void Rover::radio_failsafe_check(uint16_t pwm)
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2012-04-30 04:17:14 -03:00
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{
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2016-12-20 09:33:36 -04:00
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if (!g.fs_throttle_enabled) {
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2018-10-31 02:26:19 -03:00
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// radio failsafe disabled
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2016-12-20 09:33:36 -04:00
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return;
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2013-02-08 06:17:54 -04:00
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}
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2012-04-30 04:17:14 -03:00
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2018-08-01 07:39:27 -03:00
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bool failed = pwm < static_cast<uint16_t>(g.fs_throttle_value);
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2019-04-25 22:19:38 -03:00
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if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 500) {
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2018-08-01 07:39:27 -03:00
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failed = true;
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2016-12-20 09:33:36 -04:00
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}
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2021-10-28 14:48:28 -03:00
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AP_Notify::flags.failsafe_radio = failed;
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2020-02-01 11:29:53 -04:00
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failsafe_trigger(FAILSAFE_EVENT_THROTTLE, "Radio", failed);
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2012-04-30 04:17:14 -03:00
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}
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