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Sub: Remove rc receiver code

This commit is contained in:
Jacob Walser 2017-03-09 12:50:58 -05:00 committed by Randy Mackay
parent 5acfc164df
commit 0ce2896e22
6 changed files with 15 additions and 76 deletions
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32
ArduSub/ArduSub.cpp
View File

@ -25,8 +25,7 @@
and the maximum time they are expected to take (in microseconds)
*/
const AP_Scheduler::Task Sub::scheduler_tasks[] = {
SCHED_TASK(rc_loop, 100, 130),
SCHED_TASK(throttle_loop, 50, 75),
SCHED_TASK(fifty_hz_loop, 50, 75),
SCHED_TASK(update_GPS, 50, 200),
#if OPTFLOW == ENABLED
SCHED_TASK(update_optical_flow, 200, 160),
@ -213,22 +212,20 @@ void Sub::fast_loop()
}
}
// rc_loops - reads user input from transmitter/receiver
// called at 100hz
void Sub::rc_loop()
{
// Read radio
// -----------------------------------------
read_radio();
failsafe_manual_control_check();
}
// throttle_loop - should be run at 50 hz
// ---------------------------
void Sub::throttle_loop()
// 50 Hz tasks
void Sub::fifty_hz_loop()
{
// check auto_armed status
update_auto_armed();
// check pilot input failsafe
failsafe_manual_control_check();
if (hal.rcin->new_input()) {
// Update servo output
RC_Channels::set_pwm_all();
SRV_Channels::output_ch_all();
}
}
// update_mount - update camera mount position
@ -466,13 +463,10 @@ void Sub::update_simple_mode(void)
float rollx, pitchx;
// exit immediately if no new radio frame or not in simple mode
if (ap.simple_mode == 0 || !ap.new_radio_frame) {
if (ap.simple_mode == 0) {
return;
}
// mark radio frame as consumed
ap.new_radio_frame = false;
if (ap.simple_mode == 1) {
// rotate roll, pitch input by -initial simple heading (i.e. north facing)
rollx = channel_roll->get_control_in()*simple_cos_yaw - channel_pitch->get_control_in()*simple_sin_yaw;

7
ArduSub/GCS_Mavlink.cpp
View File

@ -130,9 +130,6 @@ NOINLINE void Sub::send_extended_status1(mavlink_channel_t chan)
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
if (ap.rc_receiver_present) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
}
// all present sensors enabled by default except altitude and position control and motors which we will set individually
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
@ -181,9 +178,7 @@ NOINLINE void Sub::send_extended_status1(mavlink_channel_t chan)
control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
if (ap.rc_receiver_present) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
}
if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
}

1
ArduSub/Sub.cpp
View File

@ -50,7 +50,6 @@ Sub::Sub(void) :
target_rangefinder_alt(0.0f),
baro_alt(0),
baro_climbrate(0.0f),
rc_throttle_control_in_filter(1.0f),
auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
yaw_look_at_WP_bearing(0.0f),
yaw_look_at_heading(0),

9
ArduSub/Sub.h
View File

@ -237,9 +237,7 @@ private:
uint8_t pre_arm_check : 1; // true if all pre-arm checks (rc, accel calibration, gps lock) have been performed
uint8_t auto_armed : 1; // stops auto missions from beginning until throttle is raised
uint8_t logging_started : 1; // true if dataflash logging has started
uint8_t new_radio_frame : 1; // Set true if we have new PWM data to act on from the Radio
uint8_t usb_connected : 1; // true if APM is powered from USB connection
uint8_t rc_receiver_present : 1; // true if we have an rc receiver present (i.e. if we've ever received an update
uint8_t compass_mot : 1; // true if we are currently performing compassmot calibration
uint8_t motor_test : 1; // true if we are currently performing the motors test
uint8_t initialised : 1; // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes
@ -360,9 +358,6 @@ private:
int32_t quarter_turn_count;
uint8_t last_turn_state;
// filtered pilot's throttle input used to cancel landing if throttle held high
LowPassFilterFloat rc_throttle_control_in_filter;
// 3D Location vectors
// Current location of the Sub (altitude is relative to home)
Location_Class current_loc;
@ -484,7 +479,7 @@ private:
void perf_update(void);
void fast_loop();
void rc_loop();
void throttle_loop();
void fifty_hz_loop();
void update_mount();
void update_trigger();
void update_batt_compass(void);
@ -715,7 +710,6 @@ private:
void init_rc_in();
void init_rc_out();
void enable_motor_output();
void read_radio();
void init_joystick();
void transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons);
void handle_jsbutton_press(uint8_t button,bool shift=false,bool held=false);
@ -723,7 +717,6 @@ private:
JSButton* get_button(uint8_t index);
void default_js_buttons(void);
void set_throttle_zero_flag(int16_t throttle_control);
void radio_passthrough_to_motors();
void init_barometer(bool save);
void read_barometer(void);
void init_rangefinder(void);

4
ArduSub/esc_calibration.cpp
View File

@ -91,10 +91,6 @@ void Sub::esc_calibration_passthrough()
// flash LEDS
AP_Notify::flags.esc_calibration = true;
// read pilot input
read_radio();
hal.scheduler->delay(10);
// pass through to motors
motors.set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
}

38
ArduSub/radio.cpp
View File

@ -67,11 +67,6 @@ void Sub::init_rc_out()
motors.init((AP_Motors::motor_frame_class)g.frame_configuration.get(), (AP_Motors::motor_frame_type)0);
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
for (uint8_t i = 0; i < 5; i++) {
hal.scheduler->delay(20);
read_radio();
}
// check if we should enter esc calibration mode
esc_calibration_startup_check();
@ -92,34 +87,6 @@ void Sub::enable_motor_output()
motors.output_min();
}
void Sub::read_radio()
{
static uint32_t last_update_ms = 0;
uint32_t tnow_ms = millis();
if (hal.rcin->new_input()) {
ap.new_radio_frame = true;
RC_Channels::set_pwm_all();
set_throttle_zero_flag(channel_throttle->get_control_in());
// flag we must have an rc receiver attached
if (!failsafe.rc_override_active) {
ap.rc_receiver_present = true;
}
// update output on any aux channels, for manual passthru
SRV_Channels::output_ch_all();
// pass pilot input through to motors (used to allow wiggling servos while disarmed on heli, single, coax copters)
radio_passthrough_to_motors();
float dt = (tnow_ms - last_update_ms)*1.0e-3f;
rc_throttle_control_in_filter.apply(channel_throttle->get_control_in(), dt);
last_update_ms = tnow_ms;
}
}
#define THROTTLE_ZERO_DEBOUNCE_TIME_MS 400
// set_throttle_zero_flag - set throttle_zero flag from debounced throttle control
// throttle_zero is used to determine if the pilot intends to shut down the motors
@ -141,8 +108,3 @@ void Sub::set_throttle_zero_flag(int16_t throttle_control)
}
}
// pass pilot's inputs to motors library (used to allow wiggling servos while disarmed on heli, single, coax copters)
void Sub::radio_passthrough_to_motors()
{
motors.set_radio_passthrough(channel_roll->get_control_in()/1000.0f, channel_pitch->get_control_in()/1000.0f, channel_throttle->get_control_in()/1000.0f, channel_yaw->get_control_in()/1000.0f);
}