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Rover: support RCMAP_* mapping for steering/throttle

This commit is contained in:
Andrew Tridgell 2013-06-03 19:33:59 +10:00
parent 5b3bfe3d38
commit 5a9485a419
13 changed files with 125 additions and 137 deletions
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23
APMrover2/APMrover2.pde
View File

@ -73,6 +73,7 @@ version 2.1 of the License, or (at your option) any later version.
#include <AP_Airspeed.h> // needed for AHRS build
#include <memcheck.h>
#include <DataFlash.h>
#include <AP_RCMapper.h> // RC input mapping library
#include <SITL.h>
#include <stdarg.h>
@ -115,6 +116,12 @@ static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor:
//
static Parameters g;
// mapping between input channels
static RCMapper rcmap;
// primary control channels
static RC_Channel *channel_steer;
static RC_Channel *channel_throttle;
////////////////////////////////////////////////////////////////////////////////
// prototypes
@ -795,6 +802,8 @@ static void one_second_loop()
// allow orientation change at runtime to aid config
ahrs.set_orientation();
set_control_channels();
}
static void update_GPS(void)
@ -855,12 +864,12 @@ static void update_current_mode(void)
the same type of steering control as auto mode. The throttle
controls the target speed, in proportion to the throttle
*/
bearing_error_cd = g.channel_steer.pwm_to_angle();
bearing_error_cd = channel_steer->pwm_to_angle();
calc_nav_steer();
/* we need to reset the I term or it will build up */
g.pidNavSteer.reset_I();
calc_throttle(g.channel_throttle.pwm_to_angle() * 0.01 * g.speed_cruise);
calc_throttle(channel_throttle->pwm_to_angle() * 0.01 * g.speed_cruise);
break;
case LEARNING:
@ -871,14 +880,14 @@ static void update_current_mode(void)
we set the exact value in set_servos(), but it helps for
logging
*/
g.channel_throttle.servo_out = g.channel_throttle.control_in;
g.channel_steer.servo_out = g.channel_steer.pwm_to_angle();
channel_throttle->servo_out = channel_throttle->control_in;
channel_steer->servo_out = channel_steer->pwm_to_angle();
break;
case HOLD:
// hold position - stop motors and center steering
g.channel_throttle.servo_out = 0;
g.channel_steer.servo_out = 0;
channel_throttle->servo_out = 0;
channel_steer->servo_out = 0;
break;
case INITIALISING:
@ -906,7 +915,7 @@ static void update_navigation()
calc_nav_steer();
calc_bearing_error();
if (verify_RTL()) {
g.channel_throttle.servo_out = g.throttle_min.get();
channel_throttle->servo_out = g.throttle_min.get();
set_mode(HOLD);
}
break;

6
APMrover2/GCS_Mavlink.pde
View File

@ -275,9 +275,9 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
chan,
millis(),
0, // port 0
10000 * g.channel_steer.norm_output(),
10000 * channel_steer->norm_output(),
0,
10000 * g.channel_throttle.norm_output(),
10000 * channel_throttle->norm_output(),
0,
0,
0,
@ -341,7 +341,7 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
(float)g_gps->ground_speed / 100.0,
(float)g_gps->ground_speed / 100.0,
(ahrs.yaw_sensor / 100) % 360,
(uint16_t)(100 * g.channel_throttle.norm_output()),
(uint16_t)(100 * channel_throttle->norm_output()),
current_loc.alt / 100.0,
0);
}

10
APMrover2/Log.pde
View File

@ -264,10 +264,10 @@ static void Log_Write_Control_Tuning()
Vector3f accel = ins.get_accel();
struct log_Control_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
steer_out : (int16_t)g.channel_steer.servo_out,
steer_out : (int16_t)channel_steer->servo_out,
roll : (int16_t)ahrs.roll_sensor,
pitch : (int16_t)ahrs.pitch_sensor,
throttle_out : (int16_t)g.channel_throttle.servo_out,
throttle_out : (int16_t)channel_throttle->servo_out,
accel_y : accel.y
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
@ -294,7 +294,7 @@ static void Log_Write_Nav_Tuning()
target_bearing_cd : (uint16_t)target_bearing,
nav_bearing_cd : (uint16_t)nav_bearing,
nav_gain_scalar : (int16_t)(nav_gain_scaler*1000),
throttle : (int8_t)(100 * g.channel_throttle.norm_output())
throttle : (int8_t)(100 * channel_throttle->norm_output())
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -366,7 +366,7 @@ static void Log_Write_Sonar()
turn_angle : (int8_t)obstacle.turn_angle,
turn_time : turn_time,
ground_speed : (uint16_t)(ground_speed*100),
throttle : (int8_t)(100 * g.channel_throttle.norm_output())
throttle : (int8_t)(100 * channel_throttle->norm_output())
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -385,7 +385,7 @@ static void Log_Write_Current()
{
struct log_Current pkt = {
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
throttle_in : g.channel_throttle.control_in,
throttle_in : channel_throttle->control_in,
battery_voltage : (int16_t)(battery_voltage1 * 100.0),
current_amps : (int16_t)(current_amps1 * 100.0),
board_voltage : board_voltage(),

13
APMrover2/Parameters.h
View File

@ -76,9 +76,9 @@ public:
//
// 160: Radio settings
//
k_param_channel_steer = 160,
k_param_rc_1 = 160,
k_param_rc_2,
k_param_channel_throttle,
k_param_rc_3,
k_param_rc_4,
k_param_rc_5,
k_param_rc_6,
@ -139,6 +139,7 @@ public:
k_param_ahrs,
k_param_ins,
k_param_compass,
k_param_rcmap,
// 254,255: reserved
};
@ -187,9 +188,9 @@ public:
AP_Float auto_kickstart;
// RC channels
RC_Channel channel_steer;
RC_Channel rc_1;
RC_Channel_aux rc_2;
RC_Channel channel_throttle;
RC_Channel rc_3;
RC_Channel_aux rc_4;
RC_Channel_aux rc_5;
RC_Channel_aux rc_6;
@ -243,9 +244,9 @@ public:
Parameters() :
// RC channels
channel_steer(CH_1),
rc_1(CH_1),
rc_2(CH_2),
channel_throttle(CH_3),
rc_3(CH_3),
rc_4(CH_4),
rc_5(CH_5),
rc_6(CH_6),

8
APMrover2/Parameters.pde
View File

@ -197,7 +197,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Group: RC1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(channel_steer, "RC1_", RC_Channel),
GGROUP(rc_1, "RC1_", RC_Channel),
// @Group: RC2_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
@ -205,7 +205,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Group: RC3_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(channel_throttle, "RC3_", RC_Channel),
GGROUP(rc_3, "RC3_", RC_Channel),
// @Group: RC4_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
@ -416,6 +416,10 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/AP_Compass/Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
// @Group: RCMAP_
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
GOBJECT(rcmap, "RCMAP_", RCMapper),
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
GOBJECT(gcs3, "SR3_", GCS_MAVLINK),

44
APMrover2/Steering.pde
View File

@ -8,12 +8,12 @@ static void throttle_slew_limit(int16_t last_throttle)
// if slew limit rate is set to zero then do not slew limit
if (g.throttle_slewrate) {
// limit throttle change by the given percentage per second
float temp = g.throttle_slewrate * G_Dt * 0.01f * fabsf(g.channel_throttle.radio_max - g.channel_throttle.radio_min);
float temp = g.throttle_slewrate * G_Dt * 0.01f * fabsf(channel_throttle->radio_max - channel_throttle->radio_min);
// allow a minimum change of 1 PWM per cycle
if (temp < 1) {
temp = 1;
}
g.channel_throttle.radio_out = constrain_int16(g.channel_throttle.radio_out, last_throttle - temp, last_throttle + temp);
channel_throttle->radio_out = constrain_int16(channel_throttle->radio_out, last_throttle - temp, last_throttle + temp);
}
}
@ -71,13 +71,13 @@ static bool auto_check_trigger(void)
static void calc_throttle(float target_speed)
{
if (!auto_check_trigger()) {
g.channel_throttle.servo_out = g.throttle_min.get();
channel_throttle->servo_out = g.throttle_min.get();
return;
}
if (target_speed <= 0) {
// cope with zero requested speed
g.channel_throttle.servo_out = g.throttle_min.get();
channel_throttle->servo_out = g.throttle_min.get();
return;
}
@ -110,7 +110,7 @@ static void calc_throttle(float target_speed)
// much faster response in turns
throttle *= reduction;
g.channel_throttle.servo_out = constrain_int16(throttle, g.throttle_min.get(), g.throttle_max.get());
channel_throttle->servo_out = constrain_int16(throttle, g.throttle_min.get(), g.throttle_max.get());
}
/*****************************************
@ -137,7 +137,7 @@ static void calc_nav_steer()
// avoid obstacles, if any
nav_steer_cd += obstacle.turn_angle*100;
g.channel_steer.servo_out = nav_steer_cd;
channel_steer->servo_out = nav_steer_cd;
}
/*****************************************
@ -145,30 +145,30 @@ static void calc_nav_steer()
*****************************************/
static void set_servos(void)
{
int16_t last_throttle = g.channel_throttle.radio_out;
int16_t last_throttle = channel_throttle->radio_out;
if ((control_mode == MANUAL || control_mode == LEARNING) &&
(g.skid_steer_out == g.skid_steer_in)) {
// do a direct pass through of radio values
g.channel_steer.radio_out = hal.rcin->read(CH_STEER);
g.channel_throttle.radio_out = hal.rcin->read(CH_THROTTLE);
channel_steer->radio_out = channel_steer->read();
channel_throttle->radio_out = channel_throttle->read();
if (failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
// suppress throttle if in failsafe and manual
g.channel_throttle.radio_out = g.channel_throttle.radio_trim;
channel_throttle->radio_out = channel_throttle->radio_trim;
}
} else {
g.channel_steer.calc_pwm();
g.channel_throttle.servo_out = constrain_int16(g.channel_throttle.servo_out,
channel_steer->calc_pwm();
channel_throttle->servo_out = constrain_int16(channel_throttle->servo_out,
g.throttle_min.get(),
g.throttle_max.get());
if ((failsafe.bits & FAILSAFE_EVENT_THROTTLE) && control_mode < AUTO) {
// suppress throttle if in failsafe
g.channel_throttle.servo_out = 0;
channel_throttle->servo_out = 0;
}
// convert 0 to 100% into PWM
g.channel_throttle.calc_pwm();
channel_throttle->calc_pwm();
// limit throttle movement speed
throttle_slew_limit(last_throttle);
@ -182,14 +182,14 @@ static void set_servos(void)
motor1 = throttle + 0.5*steering
motor2 = throttle - 0.5*steering
*/
float steering_scaled = g.channel_steer.norm_output();
float throttle_scaled = g.channel_throttle.norm_output();
float steering_scaled = channel_steer->norm_output();
float throttle_scaled = channel_throttle->norm_output();
float motor1 = throttle_scaled + 0.5*steering_scaled;
float motor2 = throttle_scaled - 0.5*steering_scaled;
g.channel_steer.servo_out = 4500*motor1;
g.channel_throttle.servo_out = 100*motor2;
g.channel_steer.calc_pwm();
g.channel_throttle.calc_pwm();
channel_steer->servo_out = 4500*motor1;
channel_throttle->servo_out = 100*motor2;
channel_steer->calc_pwm();
channel_throttle->calc_pwm();
}
}
@ -197,8 +197,8 @@ static void set_servos(void)
#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
// send values to the PWM timers for output
// ----------------------------------------
hal.rcout->write(CH_1, g.channel_steer.radio_out); // send to Servos
hal.rcout->write(CH_3, g.channel_throttle.radio_out); // send to Servos
channel_steer->output();
channel_throttle->output();
// Route configurable aux. functions to their respective servos
g.rc_2.output_ch(CH_2);

2
APMrover2/control_modes.pde
View File

@ -73,7 +73,7 @@ static void read_trim_switch()
g.command_total = 0;
g.command_index =0;
nav_command_index = 0;
if (g.channel_steer.control_in > 3000) {
if (channel_steer->control_in > 3000) {
// if roll is full right store the current location as home
init_home();
}

3
APMrover2/defines.h
View File

@ -42,9 +42,6 @@ enum ch7_option {
#define GPS_PROTOCOL_MTK19 6
#define GPS_PROTOCOL_AUTO 7
#define CH_STEER CH_1
#define CH_THROTTLE CH_3
// HIL enumerations
#define HIL_MODE_DISABLED 0
#define HIL_MODE_ATTITUDE 1

2
APMrover2/failsafe.pde
View File

@ -36,7 +36,7 @@ void failsafe_check(uint32_t tnow)
}
if (in_failsafe && tnow - last_timestamp > 20000 &&
hal.rcin->read(CH_3) >= (uint16_t)g.fs_throttle_value) {
channel_throttle->read() >= (uint16_t)g.fs_throttle_value) {
// pass RC inputs to outputs every 20ms
last_timestamp = tnow;
hal.rcin->clear_overrides();

99
APMrover2/radio.pde
View File

@ -1,14 +1,23 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
allow for runtime change of control channel ordering
*/
static void set_control_channels(void)
{
channel_steer = RC_Channel::rc_channel(rcmap.roll()-1);
channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
}
static void init_rc_in()
{
// set rc channel ranges
g.channel_steer.set_angle(SERVO_MAX);
g.channel_throttle.set_angle(100);
channel_steer->set_angle(SERVO_MAX);
channel_throttle->set_angle(100);
// set rc dead zones
g.channel_steer.set_dead_zone(60);
g.channel_throttle.set_dead_zone(6);
channel_steer->set_dead_zone(60);
channel_throttle->set_dead_zone(6);
//set auxiliary ranges
update_aux_servo_function(&g.rc_2, &g.rc_4, &g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
@ -16,58 +25,24 @@ static void init_rc_in()
static void init_rc_out()
{
hal.rcout->enable_ch(CH_1);
hal.rcout->enable_ch(CH_2);
hal.rcout->enable_ch(CH_3);
hal.rcout->enable_ch(CH_4);
hal.rcout->enable_ch(CH_5);
hal.rcout->enable_ch(CH_6);
hal.rcout->enable_ch(CH_7);
hal.rcout->enable_ch(CH_8);
#if HIL_MODE != HIL_MODE_ATTITUDE
hal.rcout->write(CH_1, g.channel_steer.radio_trim); // Initialization of servo outputs
hal.rcout->write(CH_3, g.channel_throttle.radio_trim);
hal.rcout->write(CH_2, g.rc_2.radio_trim);
hal.rcout->write(CH_4, g.rc_4.radio_trim);
hal.rcout->write(CH_5, g.rc_5.radio_trim);
hal.rcout->write(CH_6, g.rc_6.radio_trim);
hal.rcout->write(CH_7, g.rc_7.radio_trim);
hal.rcout->write(CH_8, g.rc_8.radio_trim);
#else
hal.rcout->write(CH_1, 1500); // Initialization of servo outputs
hal.rcout->write(CH_2, 1500);
hal.rcout->write(CH_3, 1000);
hal.rcout->write(CH_4, 1500);
hal.rcout->write(CH_5, 1500);
hal.rcout->write(CH_6, 1500);
hal.rcout->write(CH_7, 1500);
hal.rcout->write(CH_8, 2000);
#endif
for (uint8_t i=0; i<8; i++) {
RC_Channel::rc_channel(i)->enable_out();
RC_Channel::rc_channel(i)->output_trim();
}
}
static void read_radio()
{
g.channel_steer.set_pwm(hal.rcin->read(CH_STEER));
for (uint8_t i=0; i<8; i++) {
RC_Channel::rc_channel(i)->set_pwm(RC_Channel::rc_channel(i)->read());
}
g.channel_throttle.set_pwm(hal.rcin->read(CH_3));
control_failsafe(channel_throttle->radio_in);
g.rc_2.set_pwm(hal.rcin->read(CH_2));
g.rc_4.set_pwm(hal.rcin->read(CH_4));
g.rc_5.set_pwm(hal.rcin->read(CH_5));
g.rc_6.set_pwm(hal.rcin->read(CH_6));
g.rc_7.set_pwm(hal.rcin->read(CH_7));
g.rc_8.set_pwm(hal.rcin->read(CH_8));
channel_throttle->servo_out = channel_throttle->control_in;
control_failsafe(g.channel_throttle.radio_in);
g.channel_throttle.servo_out = g.channel_throttle.control_in;
if (g.channel_throttle.servo_out > 50) {
throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((g.channel_throttle.norm_input()-0.5) / 0.5);
if (channel_throttle->servo_out > 50) {
throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((channel_throttle->norm_input()-0.5) / 0.5);
} else {
throttle_nudge = 0;
}
@ -82,24 +57,24 @@ static void read_radio()
motor2 = throttle - 0.5*steering
*/
float motor1 = g.channel_steer.norm_input();
float motor2 = g.channel_throttle.norm_input();
float motor1 = channel_steer->norm_input();
float motor2 = channel_throttle->norm_input();
float steering_scaled = motor1 - motor2;
float throttle_scaled = 0.5f*(motor1 + motor2);
int16_t steer = g.channel_steer.radio_trim;
int16_t thr = g.channel_throttle.radio_trim;
int16_t steer = channel_steer->radio_trim;
int16_t thr = channel_throttle->radio_trim;
if (steering_scaled > 0.0f) {
steer += steering_scaled*(g.channel_steer.radio_max-g.channel_steer.radio_trim);
steer += steering_scaled*(channel_steer->radio_max-channel_steer->radio_trim);
} else {
steer += steering_scaled*(g.channel_steer.radio_trim-g.channel_steer.radio_min);
steer += steering_scaled*(channel_steer->radio_trim-channel_steer->radio_min);
}
if (throttle_scaled > 0.0f) {
thr += throttle_scaled*(g.channel_throttle.radio_max-g.channel_throttle.radio_trim);
thr += throttle_scaled*(channel_throttle->radio_max-channel_throttle->radio_trim);
} else {
thr += throttle_scaled*(g.channel_throttle.radio_trim-g.channel_throttle.radio_min);
thr += throttle_scaled*(channel_throttle->radio_trim-channel_throttle->radio_min);
}
g.channel_steer.set_pwm(steer);
g.channel_throttle.set_pwm(thr);
channel_steer->set_pwm(steer);
channel_throttle->set_pwm(thr);
}
}
@ -123,10 +98,10 @@ static void trim_control_surfaces()
read_radio();
// Store control surface trim values
// ---------------------------------
if (g.channel_steer.radio_in > 1400) {
g.channel_steer.radio_trim = g.channel_steer.radio_in;
if (channel_steer->radio_in > 1400) {
channel_steer->radio_trim = channel_steer->radio_in;
// save to eeprom
g.channel_steer.save_eeprom();
channel_steer->save_eeprom();
}
}

28
APMrover2/setup.pde
View File

@ -225,7 +225,7 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
}
if(g.channel_steer.radio_in < 500){
if(channel_steer->radio_in < 500){
while(1){
cliSerial->printf_P(PSTR("\nNo radio; Check connectors."));
delay(1000);
@ -233,8 +233,8 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
}
}
g.channel_steer.radio_min = g.channel_steer.radio_in;
g.channel_throttle.radio_min = g.channel_throttle.radio_in;
channel_steer->radio_min = channel_steer->radio_in;
channel_throttle->radio_min = channel_throttle->radio_in;
g.rc_2.radio_min = g.rc_2.radio_in;
g.rc_4.radio_min = g.rc_4.radio_in;
g.rc_5.radio_min = g.rc_5.radio_in;
@ -242,8 +242,8 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
g.rc_7.radio_min = g.rc_7.radio_in;
g.rc_8.radio_min = g.rc_8.radio_in;
g.channel_steer.radio_max = g.channel_steer.radio_in;
g.channel_throttle.radio_max = g.channel_throttle.radio_in;
channel_steer->radio_max = channel_steer->radio_in;
channel_throttle->radio_max = channel_throttle->radio_in;
g.rc_2.radio_max = g.rc_2.radio_in;
g.rc_4.radio_max = g.rc_4.radio_in;
g.rc_5.radio_max = g.rc_5.radio_in;
@ -251,7 +251,7 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
g.rc_7.radio_max = g.rc_7.radio_in;
g.rc_8.radio_max = g.rc_8.radio_in;
g.channel_steer.radio_trim = g.channel_steer.radio_in;
channel_steer->radio_trim = channel_steer->radio_in;
g.rc_2.radio_trim = 1500;
g.rc_4.radio_trim = 1500;
g.rc_5.radio_trim = 1500;
@ -267,8 +267,8 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
// ----------------------------------------------------------
read_radio();
g.channel_steer.update_min_max();
g.channel_throttle.update_min_max();
channel_steer->update_min_max();
channel_throttle->update_min_max();
g.rc_2.update_min_max();
g.rc_4.update_min_max();
g.rc_5.update_min_max();
@ -280,8 +280,8 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
while (cliSerial->available() > 0) {
cliSerial->read();
}
g.channel_steer.save_eeprom();
g.channel_throttle.save_eeprom();
channel_steer->save_eeprom();
channel_throttle->save_eeprom();
g.rc_2.save_eeprom();
g.rc_4.save_eeprom();
g.rc_5.save_eeprom();
@ -618,9 +618,9 @@ print_PID(PID * pid)
static void
print_radio_values()
{
cliSerial->printf_P(PSTR("CH1: %d | %d | %d\n"), (int)g.channel_steer.radio_min, (int)g.channel_steer.radio_trim, (int)g.channel_steer.radio_max);
cliSerial->printf_P(PSTR("CH1: %d | %d | %d\n"), (int)channel_steer->radio_min, (int)channel_steer->radio_trim, (int)channel_steer->radio_max);
cliSerial->printf_P(PSTR("CH2: %d | %d | %d\n"), (int)g.rc_2.radio_min, (int)g.rc_2.radio_trim, (int)g.rc_2.radio_max);
cliSerial->printf_P(PSTR("CH3: %d | %d | %d\n"), (int)g.channel_throttle.radio_min, (int)g.channel_throttle.radio_trim, (int)g.channel_throttle.radio_max);
cliSerial->printf_P(PSTR("CH3: %d | %d | %d\n"), (int)channel_throttle->radio_min, (int)channel_throttle->radio_trim, (int)channel_throttle->radio_max);
cliSerial->printf_P(PSTR("CH4: %d | %d | %d\n"), (int)g.rc_4.radio_min, (int)g.rc_4.radio_trim, (int)g.rc_4.radio_max);
cliSerial->printf_P(PSTR("CH5: %d | %d | %d\n"), (int)g.rc_5.radio_min, (int)g.rc_5.radio_trim, (int)g.rc_5.radio_max);
cliSerial->printf_P(PSTR("CH6: %d | %d | %d\n"), (int)g.rc_6.radio_min, (int)g.rc_6.radio_trim, (int)g.rc_6.radio_max);
@ -667,10 +667,10 @@ radio_input_switch(void)
static int8_t bouncer = 0;
if (int16_t(g.channel_steer.radio_in - g.channel_steer.radio_trim) > 100) {
if (int16_t(channel_steer->radio_in - channel_steer->radio_trim) > 100) {
bouncer = 10;
}
if (int16_t(g.channel_steer.radio_in - g.channel_steer.radio_trim) < -100) {
if (int16_t(channel_steer->radio_in - channel_steer->radio_trim) < -100) {
bouncer = -10;
}
if (bouncer >0) {

2
APMrover2/system.pde
View File

@ -122,6 +122,8 @@ static void init_ardupilot()
load_parameters();
set_control_channels();
// after parameter load setup correct baud rate on uartA
hal.uartA->begin(map_baudrate(g.serial0_baud, SERIAL0_BAUD));

22
APMrover2/test.pde
View File

@ -91,9 +91,9 @@ test_radio_pwm(uint8_t argc, const Menu::arg *argv)
read_radio();
cliSerial->printf_P(PSTR("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
g.channel_steer.radio_in,
channel_steer->radio_in,
g.rc_2.radio_in,
g.channel_throttle.radio_in,
channel_throttle->radio_in,
g.rc_4.radio_in,
g.rc_5.radio_in,
g.rc_6.radio_in,
@ -147,8 +147,8 @@ test_radio(uint8_t argc, const Menu::arg *argv)
delay(20);
read_radio();
g.channel_steer.calc_pwm();
g.channel_throttle.calc_pwm();
channel_steer->calc_pwm();
channel_throttle->calc_pwm();
// write out the servo PWM values
// ------------------------------
@ -157,9 +157,9 @@ test_radio(uint8_t argc, const Menu::arg *argv)
tuning_value = constrain_float(((float)(g.rc_7.radio_in - g.rc_7.radio_min) / (float)(g.rc_7.radio_max - g.rc_7.radio_min)),0,1);
cliSerial->printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d Tuning = %2.3f\n"),
g.channel_steer.control_in,
channel_steer->control_in,
g.rc_2.control_in,
g.channel_throttle.control_in,
channel_throttle->control_in,
g.rc_4.control_in,
g.rc_5.control_in,
g.rc_6.control_in,
@ -190,7 +190,7 @@ test_failsafe(uint8_t argc, const Menu::arg *argv)
oldSwitchPosition = readSwitch();
cliSerial->printf_P(PSTR("Unplug battery, throttle in neutral, turn off radio.\n"));
while(g.channel_throttle.control_in > 0){
while(channel_throttle->control_in > 0){
delay(20);
read_radio();
}
@ -199,8 +199,8 @@ test_failsafe(uint8_t argc, const Menu::arg *argv)
delay(20);
read_radio();
if(g.channel_throttle.control_in > 0){
cliSerial->printf_P(PSTR("THROTTLE CHANGED %d \n"), g.channel_throttle.control_in);
if(channel_throttle->control_in > 0){
cliSerial->printf_P(PSTR("THROTTLE CHANGED %d \n"), channel_throttle->control_in);
fail_test++;
}
@ -211,8 +211,8 @@ test_failsafe(uint8_t argc, const Menu::arg *argv)
fail_test++;
}
if (g.fs_throttle_enabled && g.channel_throttle.get_failsafe()){
cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), g.channel_throttle.radio_in);
if (g.fs_throttle_enabled && channel_throttle->get_failsafe()){
cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), channel_throttle->radio_in);
print_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++;