ardupilot/ArduCopter/esc_calibration.cpp

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#include "Copter.h"
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/*****************************************************************************
* Functions to check and perform ESC calibration
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*****************************************************************************/
#define ESC_CALIBRATION_HIGH_THROTTLE 950
// check if we should enter esc calibration mode
void Copter::esc_calibration_startup_check()
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{
if (motors->is_brushed_pwm_type()) {
// ESC cal not valid for brushed motors
return;
}
#if FRAME_CONFIG != HELI_FRAME
// delay up to 2 second for first radio input
uint8_t i = 0;
while ((i++ < 100) && (last_radio_update_ms == 0)) {
hal.scheduler->delay(20);
read_radio();
}
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// exit immediately if pre-arm rc checks fail
if (!arming.rc_calibration_checks(true)) {
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// clear esc flag for next time
if ((g.esc_calibrate != ESCCalibrationModes::ESCCAL_NONE) && (g.esc_calibrate != ESCCalibrationModes::ESCCAL_DISABLED)) {
g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_NONE);
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}
return;
}
// check ESC parameter
switch (g.esc_calibrate) {
case ESCCalibrationModes::ESCCAL_NONE:
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// check if throttle is high
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)
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if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
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// we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
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// send message to gcs
gcs().send_text(MAV_SEVERITY_CRITICAL,"ESC calibration: Restart board");
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// turn on esc calibration notification
AP_Notify::flags.esc_calibration = true;
// block until we restart
while(1) { hal.scheduler->delay(5); }
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}
break;
case ESCCalibrationModes::ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH:
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// check if throttle is high
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)
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if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
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// pass through pilot throttle to escs
esc_calibration_passthrough();
}
break;
case ESCCalibrationModes::ESCCAL_PASSTHROUGH_ALWAYS:
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// pass through pilot throttle to escs
esc_calibration_passthrough();
break;
case ESCCalibrationModes::ESCCAL_AUTO:
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// perform automatic ESC calibration
esc_calibration_auto();
break;
case ESCCalibrationModes::ESCCAL_DISABLED:
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default:
// do nothing
break;
}
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// clear esc flag for next time
if (g.esc_calibrate != ESCCalibrationModes::ESCCAL_DISABLED) {
g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_NONE);
}
#endif // FRAME_CONFIG != HELI_FRAME
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}
// esc_calibration_passthrough - pass through pilot throttle to escs
void Copter::esc_calibration_passthrough()
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{
#if FRAME_CONFIG != HELI_FRAME
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// send message to GCS
gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");
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esc_calibration_setup();
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while(1) {
// flash LEDs
esc_calibration_notify();
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// read pilot input
read_radio();
// we run at high rate to make oneshot ESCs happy. Normal ESCs
// will only see pulses at the RC_SPEED
hal.scheduler->delay(3);
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// pass through to motors
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SRV_Channels::cork();
motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f);
AP::srv().push();
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}
#endif // FRAME_CONFIG != HELI_FRAME
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}
// esc_calibration_auto - calibrate the ESCs automatically using a timer and no pilot input
void Copter::esc_calibration_auto()
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{
#if FRAME_CONFIG != HELI_FRAME
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// send message to GCS
gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration");
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esc_calibration_setup();
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// raise throttle to maximum
SRV_Channels::cork();
motors->set_throttle_passthrough_for_esc_calibration(1.0f);
AP::srv().push();
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// delay for 5 seconds while outputting pulses
uint32_t tstart = millis();
while (millis() - tstart < 5000) {
SRV_Channels::cork();
motors->set_throttle_passthrough_for_esc_calibration(1.0f);
AP::srv().push();
esc_calibration_notify();
hal.scheduler->delay(3);
}
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// block until we restart
while(1) {
SRV_Channels::cork();
motors->set_throttle_passthrough_for_esc_calibration(0.0f);
AP::srv().push();
esc_calibration_notify();
hal.scheduler->delay(3);
}
#endif // FRAME_CONFIG != HELI_FRAME
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}
// flash LEDs to notify the user that ESC calibration is happening
void Copter::esc_calibration_notify()
{
AP_Notify::flags.esc_calibration = true;
uint32_t now = AP_HAL::millis();
if (now - esc_calibration_notify_update_ms > 20) {
esc_calibration_notify_update_ms = now;
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notify.update();
}
}
void Copter::esc_calibration_setup()
{
// clear esc flag for next time
g.esc_calibrate.set_and_save(ESCCAL_NONE);
if (motors->is_normal_pwm_type()) {
// run at full speed for oneshot ESCs (actually done on push)
motors->set_update_rate(g.rc_speed);
} else {
// reduce update rate to motors to 50Hz
motors->set_update_rate(50);
}
// disable safety if requested
BoardConfig.init_safety();
// wait for safety switch to be pressed
uint32_t tstart = 0;
while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
const uint32_t tnow = AP_HAL::millis();
if (tnow - tstart >= 5000) {
gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
tstart = tnow;
}
esc_calibration_notify();
hal.scheduler->delay(3);
}
// arm and enable motors
motors->armed(true);
SRV_Channels::enable_by_mask(motors->get_motor_mask());
hal.util->set_soft_armed(true);
}