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AP_IOMCU: implement manual_rc_mask

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This commit is contained in:
Andrew Tridgell 2018-10-31 15:09:49 +11:00
parent 27f06ce810
commit beff16abe6
4 changed files with 14 additions and 2 deletions
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4
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -788,7 +788,8 @@ void AP_IOMCU::shutdown(void)
setup for mixing. This allows fixed wing aircraft to fly in manual setup for mixing. This allows fixed wing aircraft to fly in manual
mode if the FMU dies mode if the FMU dies
*/ */
bool AP_IOMCU::setup_mixing(RCMapper *rcmap, int8_t override_chan, float mixing_gain) bool AP_IOMCU::setup_mixing(RCMapper *rcmap, int8_t override_chan,
float mixing_gain, uint16_t manual_rc_mask)
{ {
if (config.protocol_version != IOMCU_PROTOCOL_VERSION) { if (config.protocol_version != IOMCU_PROTOCOL_VERSION) {
return false; return false;
@ -833,6 +834,7 @@ bool AP_IOMCU::setup_mixing(RCMapper *rcmap, int8_t override_chan, float mixing_
MIX_UPDATE(mixing.rc_chan_override, override_chan); MIX_UPDATE(mixing.rc_chan_override, override_chan);
MIX_UPDATE(mixing.mixing_gain, (uint16_t)(mixing_gain*1000)); MIX_UPDATE(mixing.mixing_gain, (uint16_t)(mixing_gain*1000));
MIX_UPDATE(mixing.manual_rc_mask, manual_rc_mask);
// and enable // and enable
MIX_UPDATE(mixing.enabled, 1); MIX_UPDATE(mixing.enabled, 1);

3
libraries/AP_IOMCU/AP_IOMCU.h
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@ -91,7 +91,8 @@ public:
void shutdown(); void shutdown();
// setup for FMU failsafe mixing // setup for FMU failsafe mixing
bool setup_mixing(RCMapper *rcmap, int8_t override_chan, float mixing_gain); bool setup_mixing(RCMapper *rcmap, int8_t override_chan,
float mixing_gain, uint16_t manual_rc_mask);
private: private:
AP_HAL::UARTDriver &uart; AP_HAL::UARTDriver &uart;

3
libraries/AP_IOMCU/iofirmware/ioprotocol.h
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@ -166,6 +166,9 @@ struct PACKED page_mixing {
// is the throttle an angle input? // is the throttle an angle input?
uint8_t throttle_is_angle; uint8_t throttle_is_angle;
// mask of channels which are pure manual in override
uint16_t manual_rc_mask;
// enabled needs to be 1 to enable mixing // enabled needs to be 1 to enable mixing
uint8_t enabled; uint8_t enabled;

6
libraries/AP_IOMCU/iofirmware/mixer.cpp
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@ -141,6 +141,12 @@ void AP_IOMCU_FW::run_mixer(void)
for (uint8_t i=0; i<IOMCU_MAX_CHANNELS; i++) { for (uint8_t i=0; i<IOMCU_MAX_CHANNELS; i++) {
SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)mixing.servo_function[i]; SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)mixing.servo_function[i];
uint16_t &pwm = reg_direct_pwm.pwm[i]; uint16_t &pwm = reg_direct_pwm.pwm[i];
if (mixing.manual_rc_mask & (1U<<i)) {
// treat as pass-thru if this channel is set in MANUAL_RC_MASK
function = SRV_Channel::k_manual;
}
switch (function) { switch (function) {
case SRV_Channel::k_manual: case SRV_Channel::k_manual:
pwm = rc_input.pwm[i]; pwm = rc_input.pwm[i];