ardupilot/ArduCopter/radio.pde

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// -*- 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
// ----------------------------------------------------------------------------
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static int8_t failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling
static void default_dead_zones()
{
g.rc_1.set_dead_zone(60);
g.rc_2.set_dead_zone(60);
#if FRAME_CONFIG == HELI_FRAME
g.rc_3.set_dead_zone(20);
g.rc_4.set_dead_zone(30);
#else
g.rc_3.set_dead_zone(60);
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g.rc_4.set_dead_zone(80);
#endif
}
static void init_rc_in()
{
// set rc channel ranges
g.rc_1.set_angle(4500);
g.rc_2.set_angle(4500);
#if FRAME_CONFIG == HELI_FRAME
// we do not want to limit the movment of the heli's swash plate
g.rc_3.set_range(0, 1000);
#else
g.rc_3.set_range(MINIMUM_THROTTLE, MAXIMUM_THROTTLE);
#endif
g.rc_4.set_angle(4500);
// reverse: CW = left
// normal: CW = left???
g.rc_1.set_type(RC_CHANNEL_ANGLE_RAW);
g.rc_2.set_type(RC_CHANNEL_ANGLE_RAW);
g.rc_4.set_type(RC_CHANNEL_ANGLE_RAW);
//set auxiliary ranges
g.rc_5.set_range(0,1000);
g.rc_6.set_range(0,1000);
g.rc_7.set_range(0,1000);
g.rc_8.set_range(0,1000);
}
static void init_rc_out()
{
APM_RC.Init( &isr_registry ); // APM Radio initialization
#if INSTANT_PWM == 1
motors.set_update_rate(AP_MOTORS_SPEED_INSTANT_PWM);
#else
motors.set_update_rate(g.rc_speed);
#endif
motors.set_frame_orientation(g.frame_orientation);
motors.Init(); // motor initialisation
motors.set_min_throttle(MINIMUM_THROTTLE);
motors.set_max_throttle(MAXIMUM_THROTTLE);
// this is the camera pitch5 and roll6
APM_RC.OutputCh(CH_CAM_PITCH, 1500);
APM_RC.OutputCh(CH_CAM_ROLL, 1500);
for(byte i = 0; i < 5; i++){
delay(20);
read_radio();
}
// sanity check - prevent unconfigured radios from outputting
if(g.rc_3.radio_min >= 1300){
g.rc_3.radio_min = g.rc_3.radio_in;
}
// we are full throttle
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if(g.rc_3.control_in >= (MAXIMUM_THROTTLE - 50)){
if(g.esc_calibrate == 0){
// we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(1);
// send miinimum throttle out to ESC
motors.output_min();
// block until we restart
while(1){
//Serial.println("esc");
delay(200);
dancing_light();
}
}else{
//Serial.println("esc init");
// clear esc flag
g.esc_calibrate.set_and_save(0);
// block until we restart
init_esc();
}
}else{
// did we abort the calibration?
if(g.esc_calibrate == 1)
g.esc_calibrate.set_and_save(0);
// send miinimum throttle out to ESC
output_min();
}
}
void output_min()
{
motors.enable();
motors.output_min();
}
static void read_radio()
{
if (APM_RC.GetState() == 1){
new_radio_frame = true;
g.rc_1.set_pwm(APM_RC.InputCh(CH_1));
g.rc_2.set_pwm(APM_RC.InputCh(CH_2));
g.rc_3.set_pwm(APM_RC.InputCh(CH_3));
g.rc_4.set_pwm(APM_RC.InputCh(CH_4));
g.rc_5.set_pwm(APM_RC.InputCh(CH_5));
g.rc_6.set_pwm(APM_RC.InputCh(CH_6));
g.rc_7.set_pwm(APM_RC.InputCh(CH_7));
g.rc_8.set_pwm(APM_RC.InputCh(CH_8));
#if FRAME_CONFIG != HELI_FRAME
// limit our input to 800 so we can still pitch and roll
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g.rc_3.control_in = min(g.rc_3.control_in, MAXIMUM_THROTTLE);
#endif
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throttle_failsafe(g.rc_3.radio_in);
}
}
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#define FS_COUNTER 3
static void throttle_failsafe(uint16_t pwm)
{
// Don't enter Failsafe if not enabled by user
if(g.throttle_fs_enabled == 0)
return;
//check for failsafe and debounce funky reads
// ------------------------------------------
if (pwm < (unsigned)g.throttle_fs_value){
// we detect a failsafe from radio
// throttle has dropped below the mark
failsafeCounter++;
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if (failsafeCounter == FS_COUNTER-1){
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// called right before trigger
// do nothing
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}else if(failsafeCounter == FS_COUNTER) {
// Don't enter Failsafe if we are not armed
// home distance is in meters
// This is to prevent accidental RTL
if(motors.armed() && (home_distance > 1000)){
SendDebug("MSG FS ON ");
SendDebugln(pwm, DEC);
set_failsafe(true);
}
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}else if (failsafeCounter > FS_COUNTER){
failsafeCounter = FS_COUNTER+1;
}
}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){
SendDebug("MSG FS OFF ");
SendDebugln(pwm, DEC);
}else if(failsafeCounter == 0) {
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set_failsafe(false);
}else if (failsafeCounter <0){
failsafeCounter = -1;
}
}
}
static void trim_radio()
{
for (byte i = 0; i < 30; i++){
read_radio();
}
g.rc_1.trim(); // roll
g.rc_2.trim(); // pitch
g.rc_4.trim(); // yaw
g.rc_1.save_eeprom();
g.rc_2.save_eeprom();
g.rc_4.save_eeprom();
}