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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2017-01-06 06:31:10 -04:00
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channel_steer = RC_Channels::rc_channel(rcmap.roll()-1);
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channel_throttle = RC_Channels::rc_channel(rcmap.throttle()-1);
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channel_learn = RC_Channels::rc_channel(g.learn_channel-1);
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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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2017-01-06 06:31:10 -04:00
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SRV_Channels::set_angle(SRV_Channel::k_steering, SERVO_MAX);
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SRV_Channels::set_angle(SRV_Channel::k_throttle, 100);
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2015-10-30 02:56:41 -03:00
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// For a rover safety is TRIM throttle
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if (!arming.is_armed() && arming.arming_required() == AP_Arming::YES_MIN_PWM) {
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APMRover2: 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 05:49:39 -03:00
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hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), channel_throttle->get_radio_trim());
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2016-05-31 21:12:02 -03:00
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if (g.skid_steer_out) {
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hal.rcout->set_safety_pwm(1UL<<(rcmap.roll()-1), channel_steer->get_radio_trim());
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}
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2015-10-30 02:56:41 -03:00
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}
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2014-11-20 03:32:08 -04:00
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// setup correct scaling for ESCs like the UAVCAN PX4ESC which
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2016-12-20 09:33:36 -04:00
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// take a proportion of speed.
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APMRover2: 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 05:49:39 -03:00
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hal.rcout->set_esc_scaling(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
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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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2012-04-30 04:17:14 -03:00
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2016-12-20 09:33:36 -04:00
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// set auxiliary ranges
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2013-07-14 20:57:00 -03:00
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update_aux();
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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::init_rc_out()
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2012-04-30 04:17:14 -03:00
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{
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2017-01-06 06:31:10 -04:00
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SRV_Channels::output_trim_all();
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2014-04-20 19:37:49 -03:00
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// setup PWM values to send if the FMU firmware dies
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2017-01-06 06:31:10 -04:00
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SRV_Channels::setup_failsafe_trim_all();
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2015-10-30 02:56:41 -03:00
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2015-10-30 02:57:17 -03:00
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// output throttle trim when safety off if arming
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// is setup for min on disarm. MIN is from plane where MIN is effectively no throttle.
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// For Rover's no throttle means TRIM as rovers can go backwards i.e. MIN throttle is
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// full speed backward.
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2015-10-30 02:56:41 -03:00
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if (arming.arming_required() == AP_Arming::YES_MIN_PWM) {
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APMRover2: 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 05:49:39 -03:00
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hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), channel_throttle->get_radio_trim());
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2016-05-31 21:12:02 -03:00
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if (g.skid_steer_out) {
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hal.rcout->set_safety_pwm(1UL<<(rcmap.roll()-1), channel_steer->get_radio_trim());
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}
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2015-10-30 02:56:41 -03:00
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}
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}
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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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// 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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// if not in a manual throttle mode then disallow rudder arming/disarming
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if (auto_throttle_mode) {
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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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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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now - rudder_arm_timer < 3000) {
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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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arm_motors(AP_Arming::RUDDER);
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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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} else if (!motor_active() & !g.skid_steer_out) {
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// when armed and motor not active (not moving), full left rudder starts disarming counter
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2016-05-31 21:12:02 -03:00
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// This is disabled for skid steering otherwise when tring to turn a skid steering rover around
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// the rover would disarm
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2016-12-20 09:33:36 -04:00
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if (channel_steer->get_control_in() < -4000) {
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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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now - rudder_arm_timer < 3000) {
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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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disarm_motors();
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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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2014-03-25 00:47:02 -03:00
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if (!hal.rcin->new_input()) {
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APMRover2: 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 05:49:39 -03:00
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control_failsafe(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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2013-12-19 18:48:36 -04:00
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2017-01-06 06:31:10 -04:00
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RC_Channels::set_pwm_all();
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2012-04-30 04:17:14 -03:00
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2016-12-20 09:33:36 -04:00
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control_failsafe(channel_throttle->get_radio_in());
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2012-04-30 04:17:14 -03:00
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2017-01-06 06:31:10 -04:00
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,channel_throttle->get_control_in());
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2012-04-30 04:17:14 -03:00
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2015-08-05 23:18:01 -03:00
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// Check if the throttle value is above 50% and we need to nudge
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// Make sure its above 50% in the direction we are travelling
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2017-01-06 06:31:10 -04:00
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if ((abs(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)) > 50) &&
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(((SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < 0) && in_reverse) ||
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((SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) > 0) && !in_reverse))) {
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2015-08-05 23:18:01 -03:00
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throttle_nudge = (g.throttle_max - g.throttle_cruise) *
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((fabsf(channel_throttle->norm_input())-0.5f) / 0.5f);
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2016-12-20 09:33:36 -04:00
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} else {
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throttle_nudge = 0;
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}
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2012-04-30 04:17:14 -03:00
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2013-03-14 21:04:33 -03:00
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if (g.skid_steer_in) {
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// convert the two radio_in values from skid steering values
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/*
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mixing rule:
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steering = motor1 - motor2
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throttle = 0.5*(motor1 + motor2)
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motor1 = throttle + 0.5*steering
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motor2 = throttle - 0.5*steering
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*/
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2013-06-03 06:33:59 -03:00
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float motor1 = channel_steer->norm_input();
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float motor2 = channel_throttle->norm_input();
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2013-03-29 05:43:28 -03:00
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float steering_scaled = motor1 - motor2;
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2013-03-14 21:04:33 -03:00
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float throttle_scaled = 0.5f*(motor1 + motor2);
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APMRover2: 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 05:49:39 -03:00
|
|
|
int16_t steer = channel_steer->get_radio_trim();
|
|
|
|
int16_t thr = channel_throttle->get_radio_trim();
|
2013-03-14 21:04:33 -03:00
|
|
|
if (steering_scaled > 0.0f) {
|
APMRover2: 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 05:49:39 -03:00
|
|
|
steer += steering_scaled*(channel_steer->get_radio_max()-channel_steer->get_radio_trim());
|
2013-03-14 21:04:33 -03:00
|
|
|
} else {
|
APMRover2: 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 05:49:39 -03:00
|
|
|
steer += steering_scaled*(channel_steer->get_radio_trim()-channel_steer->get_radio_min());
|
2013-03-14 21:04:33 -03:00
|
|
|
}
|
|
|
|
if (throttle_scaled > 0.0f) {
|
APMRover2: 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 05:49:39 -03:00
|
|
|
thr += throttle_scaled*(channel_throttle->get_radio_max()-channel_throttle->get_radio_trim());
|
2013-03-14 21:04:33 -03:00
|
|
|
} else {
|
APMRover2: 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 05:49:39 -03:00
|
|
|
thr += throttle_scaled*(channel_throttle->get_radio_trim()-channel_throttle->get_radio_min());
|
2013-03-14 21:04:33 -03:00
|
|
|
}
|
2013-06-03 06:33:59 -03:00
|
|
|
channel_steer->set_pwm(steer);
|
|
|
|
channel_throttle->set_pwm(thr);
|
2013-03-14 21:04:33 -03:00
|
|
|
}
|
2015-10-30 02:56:41 -03:00
|
|
|
|
|
|
|
rudder_arm_disarm_check();
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::control_failsafe(uint16_t pwm)
|
2012-04-30 04:17:14 -03:00
|
|
|
{
|
2016-12-20 09:33:36 -04:00
|
|
|
if (!g.fs_throttle_enabled) {
|
2013-02-08 06:17:54 -04:00
|
|
|
// no throttle failsafe
|
2016-12-20 09:33:36 -04:00
|
|
|
return;
|
2013-02-08 06:17:54 -04:00
|
|
|
}
|
2012-04-30 04:17:14 -03:00
|
|
|
|
2016-12-20 09:33:36 -04:00
|
|
|
// Check for failsafe condition based on loss of GCS control
|
|
|
|
if (rc_override_active) {
|
2013-03-28 20:25:53 -03:00
|
|
|
failsafe_trigger(FAILSAFE_EVENT_RC, (millis() - failsafe.rc_override_timer) > 1500);
|
2016-12-20 09:33:36 -04:00
|
|
|
} else if (g.fs_throttle_enabled) {
|
2013-12-19 18:48:36 -04:00
|
|
|
bool failed = pwm < (uint16_t)g.fs_throttle_value;
|
2015-11-19 23:04:16 -04:00
|
|
|
if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 2000) {
|
2013-12-19 18:48:36 -04:00
|
|
|
failed = true;
|
|
|
|
}
|
|
|
|
failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed);
|
2016-12-20 09:33:36 -04:00
|
|
|
}
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
2015-09-07 00:51:01 -03:00
|
|
|
/*
|
|
|
|
return true if throttle level is below throttle failsafe threshold
|
|
|
|
or RC input is invalid
|
|
|
|
*/
|
|
|
|
bool Rover::throttle_failsafe_active(void)
|
|
|
|
{
|
|
|
|
if (!g.fs_throttle_enabled) {
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
if (millis() - failsafe.last_valid_rc_ms > 1000) {
|
|
|
|
// we haven't had a valid RC frame for 1 seconds
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
if (channel_throttle->get_reverse()) {
|
APMRover2: 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 05:49:39 -03:00
|
|
|
return channel_throttle->get_radio_in() >= g.fs_throttle_value;
|
2015-09-07 00:51:01 -03:00
|
|
|
}
|
APMRover2: 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 05:49:39 -03:00
|
|
|
return channel_throttle->get_radio_in() <= g.fs_throttle_value;
|
2015-09-07 00:51:01 -03:00
|
|
|
}
|
|
|
|
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::trim_control_surfaces()
|
2012-04-30 04:17:14 -03:00
|
|
|
{
|
2016-12-20 09:33:36 -04:00
|
|
|
read_radio();
|
|
|
|
// Store control surface trim values
|
|
|
|
// ---------------------------------
|
APMRover2: 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 05:49:39 -03:00
|
|
|
if (channel_steer->get_radio_in() > 1400) {
|
2016-12-20 09:33:36 -04:00
|
|
|
channel_steer->set_radio_trim(channel_steer->get_radio_in());
|
2013-02-07 18:21:22 -04:00
|
|
|
// save to eeprom
|
2013-06-03 06:33:59 -03:00
|
|
|
channel_steer->save_eeprom();
|
2012-11-27 17:58:11 -04:00
|
|
|
}
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
2015-05-12 02:03:23 -03:00
|
|
|
void Rover::trim_radio()
|
2012-04-30 04:17:14 -03:00
|
|
|
{
|
2016-12-20 09:33:36 -04:00
|
|
|
for (int y = 0; y < 30; y++) {
|
|
|
|
read_radio();
|
|
|
|
}
|
2012-11-27 17:58:11 -04:00
|
|
|
trim_control_surfaces();
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|