diff --git a/ArduPlane/radio.pde b/ArduPlane/radio.pde index 5c9f9ca525..df6046bd5e 100644 --- a/ArduPlane/radio.pde +++ b/ArduPlane/radio.pde @@ -2,219 +2,219 @@ //Function that will read the radio data, limit servos and trigger a failsafe // ---------------------------------------------------------------------------- -static byte failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling +static byte failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling extern RC_Channel* rc_ch[NUM_CHANNELS]; static void init_rc_in() { - // set rc channel ranges - g.channel_roll.set_angle(SERVO_MAX); - g.channel_pitch.set_angle(SERVO_MAX); - g.channel_rudder.set_angle(SERVO_MAX); - g.channel_throttle.set_range(0, 100); + // set rc channel ranges + g.channel_roll.set_angle(SERVO_MAX); + g.channel_pitch.set_angle(SERVO_MAX); + g.channel_rudder.set_angle(SERVO_MAX); + g.channel_throttle.set_range(0, 100); - // set rc dead zones - g.channel_roll.set_dead_zone(60); - g.channel_pitch.set_dead_zone(60); - g.channel_rudder.set_dead_zone(60); - g.channel_throttle.set_dead_zone(6); + // set rc dead zones + g.channel_roll.set_dead_zone(60); + g.channel_pitch.set_dead_zone(60); + g.channel_rudder.set_dead_zone(60); + g.channel_throttle.set_dead_zone(6); - //g.channel_roll.dead_zone = 60; - //g.channel_pitch.dead_zone = 60; - //g.channel_rudder.dead_zone = 60; - //g.channel_throttle.dead_zone = 6; + //g.channel_roll.dead_zone = 60; + //g.channel_pitch.dead_zone = 60; + //g.channel_rudder.dead_zone = 60; + //g.channel_throttle.dead_zone = 6; - rc_ch[CH_1] = &g.channel_roll; - rc_ch[CH_2] = &g.channel_pitch; - rc_ch[CH_3] = &g.channel_throttle; - rc_ch[CH_4] = &g.channel_rudder; - rc_ch[CH_5] = &g.rc_5; - rc_ch[CH_6] = &g.rc_6; - rc_ch[CH_7] = &g.rc_7; - rc_ch[CH_8] = &g.rc_8; + rc_ch[CH_1] = &g.channel_roll; + rc_ch[CH_2] = &g.channel_pitch; + rc_ch[CH_3] = &g.channel_throttle; + rc_ch[CH_4] = &g.channel_rudder; + rc_ch[CH_5] = &g.rc_5; + rc_ch[CH_6] = &g.rc_6; + rc_ch[CH_7] = &g.rc_7; + rc_ch[CH_8] = &g.rc_8; - //set auxiliary ranges + //set auxiliary ranges #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 - update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8); + update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8); #else - update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11); + update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11); #endif } static void init_rc_out() { - APM_RC.Init( &isr_registry ); // APM Radio initialization + APM_RC.Init( &isr_registry ); // APM Radio initialization - APM_RC.enable_out(CH_1); - APM_RC.enable_out(CH_2); - APM_RC.enable_out(CH_3); - APM_RC.enable_out(CH_4); - enable_aux_servos(); + APM_RC.enable_out(CH_1); + APM_RC.enable_out(CH_2); + APM_RC.enable_out(CH_3); + APM_RC.enable_out(CH_4); + enable_aux_servos(); - APM_RC.OutputCh(CH_1, g.channel_roll.radio_trim); // Initialization of servo outputs - APM_RC.OutputCh(CH_2, g.channel_pitch.radio_trim); - APM_RC.OutputCh(CH_3, g.channel_throttle.radio_min); - APM_RC.OutputCh(CH_4, g.channel_rudder.radio_trim); + APM_RC.OutputCh(CH_1, g.channel_roll.radio_trim); // Initialization of servo outputs + APM_RC.OutputCh(CH_2, g.channel_pitch.radio_trim); + APM_RC.OutputCh(CH_3, g.channel_throttle.radio_min); + APM_RC.OutputCh(CH_4, g.channel_rudder.radio_trim); - APM_RC.OutputCh(CH_5, g.rc_5.radio_trim); - APM_RC.OutputCh(CH_6, g.rc_6.radio_trim); - APM_RC.OutputCh(CH_7, g.rc_7.radio_trim); - APM_RC.OutputCh(CH_8, g.rc_8.radio_trim); + APM_RC.OutputCh(CH_5, g.rc_5.radio_trim); + APM_RC.OutputCh(CH_6, g.rc_6.radio_trim); + APM_RC.OutputCh(CH_7, g.rc_7.radio_trim); + APM_RC.OutputCh(CH_8, g.rc_8.radio_trim); #if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1 - APM_RC.OutputCh(CH_9, g.rc_9.radio_trim); - APM_RC.OutputCh(CH_10, g.rc_10.radio_trim); - APM_RC.OutputCh(CH_11, g.rc_11.radio_trim); + APM_RC.OutputCh(CH_9, g.rc_9.radio_trim); + APM_RC.OutputCh(CH_10, g.rc_10.radio_trim); + APM_RC.OutputCh(CH_11, g.rc_11.radio_trim); #endif } static void read_radio() { - ch1_temp = APM_RC.InputCh(CH_ROLL); - ch2_temp = APM_RC.InputCh(CH_PITCH); + ch1_temp = APM_RC.InputCh(CH_ROLL); + ch2_temp = APM_RC.InputCh(CH_PITCH); - if(g.mix_mode == 0){ - g.channel_roll.set_pwm(ch1_temp); - g.channel_pitch.set_pwm(ch2_temp); - }else{ - g.channel_roll.set_pwm(BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int(ch2_temp - elevon2_trim) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int(ch1_temp - elevon1_trim)) / 2 + 1500); - g.channel_pitch.set_pwm((BOOL_TO_SIGN(g.reverse_ch2_elevon) * int(ch2_temp - elevon2_trim) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int(ch1_temp - elevon1_trim)) / 2 + 1500); - } + if(g.mix_mode == 0) { + g.channel_roll.set_pwm(ch1_temp); + g.channel_pitch.set_pwm(ch2_temp); + }else{ + g.channel_roll.set_pwm(BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int(ch2_temp - elevon2_trim) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int(ch1_temp - elevon1_trim)) / 2 + 1500); + g.channel_pitch.set_pwm((BOOL_TO_SIGN(g.reverse_ch2_elevon) * int(ch2_temp - elevon2_trim) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int(ch1_temp - elevon1_trim)) / 2 + 1500); + } - g.channel_throttle.set_pwm(APM_RC.InputCh(CH_3)); - g.channel_rudder.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)); + g.channel_throttle.set_pwm(APM_RC.InputCh(CH_3)); + g.channel_rudder.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)); - control_failsafe(g.channel_throttle.radio_in); + control_failsafe(g.channel_throttle.radio_in); - g.channel_throttle.servo_out = g.channel_throttle.control_in; + g.channel_throttle.servo_out = g.channel_throttle.control_in; - if (g.channel_throttle.servo_out > 50) { - if (airspeed.use()) { - airspeed_nudge_cm = (g.flybywire_airspeed_max * 100 - g.airspeed_cruise_cm) * ((g.channel_throttle.norm_input()-0.5) / 0.5); - } else { - throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((g.channel_throttle.norm_input()-0.5) / 0.5); - } - } else { - airspeed_nudge_cm = 0; - throttle_nudge = 0; - } + if (g.channel_throttle.servo_out > 50) { + if (airspeed.use()) { + airspeed_nudge_cm = (g.flybywire_airspeed_max * 100 - g.airspeed_cruise_cm) * ((g.channel_throttle.norm_input()-0.5) / 0.5); + } else { + throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((g.channel_throttle.norm_input()-0.5) / 0.5); + } + } else { + airspeed_nudge_cm = 0; + throttle_nudge = 0; + } - /* - Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), - (int)g.rc_1.control_in, - (int)g.rc_2.control_in, - (int)g.rc_3.control_in, - (int)g.rc_4.control_in); - */ + /* + * Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), + * (int)g.rc_1.control_in, + * (int)g.rc_2.control_in, + * (int)g.rc_3.control_in, + * (int)g.rc_4.control_in); + */ } static void control_failsafe(uint16_t pwm) { - if(g.throttle_fs_enabled == 0) - return; + if(g.throttle_fs_enabled == 0) + return; - // Check for failsafe condition based on loss of GCS control - if (rc_override_active) { - if(millis() - rc_override_fs_timer > FAILSAFE_SHORT_TIME) { - ch3_failsafe = true; - } else { - ch3_failsafe = false; - } + // Check for failsafe condition based on loss of GCS control + if (rc_override_active) { + if(millis() - rc_override_fs_timer > FAILSAFE_SHORT_TIME) { + ch3_failsafe = true; + } else { + ch3_failsafe = false; + } - //Check for failsafe and debounce funky reads - } else if (g.throttle_fs_enabled) { - if (pwm < (unsigned)g.throttle_fs_value){ - // we detect a failsafe from radio - // throttle has dropped below the mark - failsafeCounter++; - if (failsafeCounter == 9){ - gcs_send_text_fmt(PSTR("MSG FS ON %u"), (unsigned)pwm); - }else if(failsafeCounter == 10) { - ch3_failsafe = true; - }else if (failsafeCounter > 10){ - failsafeCounter = 11; - } + //Check for failsafe and debounce funky reads + } else if (g.throttle_fs_enabled) { + if (pwm < (unsigned)g.throttle_fs_value) { + // we detect a failsafe from radio + // throttle has dropped below the mark + failsafeCounter++; + if (failsafeCounter == 9) { + gcs_send_text_fmt(PSTR("MSG FS ON %u"), (unsigned)pwm); + }else if(failsafeCounter == 10) { + ch3_failsafe = true; + }else if (failsafeCounter > 10) { + failsafeCounter = 11; + } - }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){ - gcs_send_text_fmt(PSTR("MSG FS OFF %u"), (unsigned)pwm); - }else if(failsafeCounter == 0) { - ch3_failsafe = false; - }else if (failsafeCounter <0){ - failsafeCounter = -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) { + gcs_send_text_fmt(PSTR("MSG FS OFF %u"), (unsigned)pwm); + }else if(failsafeCounter == 0) { + ch3_failsafe = false; + }else if (failsafeCounter <0) { + failsafeCounter = -1; + } + } + } } static void trim_control_surfaces() { - read_radio(); - // Store control surface trim values - // --------------------------------- - if(g.mix_mode == 0){ - g.channel_roll.radio_trim = g.channel_roll.radio_in; - g.channel_pitch.radio_trim = g.channel_pitch.radio_in; - G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel + read_radio(); + // Store control surface trim values + // --------------------------------- + if(g.mix_mode == 0) { + g.channel_roll.radio_trim = g.channel_roll.radio_in; + g.channel_pitch.radio_trim = g.channel_pitch.radio_in; + G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel - }else{ - elevon1_trim = ch1_temp; - elevon2_trim = ch2_temp; - //Recompute values here using new values for elevon1_trim and elevon2_trim - //We cannot use radio_in[CH_ROLL] and radio_in[CH_PITCH] values from read_radio() because the elevon trim values have changed - uint16_t center = 1500; - g.channel_roll.radio_trim = center; - g.channel_pitch.radio_trim = center; - } - g.channel_rudder.radio_trim = g.channel_rudder.radio_in; + }else{ + elevon1_trim = ch1_temp; + elevon2_trim = ch2_temp; + //Recompute values here using new values for elevon1_trim and elevon2_trim + //We cannot use radio_in[CH_ROLL] and radio_in[CH_PITCH] values from read_radio() because the elevon trim values have changed + uint16_t center = 1500; + g.channel_roll.radio_trim = center; + g.channel_pitch.radio_trim = center; + } + g.channel_rudder.radio_trim = g.channel_rudder.radio_in; - // save to eeprom - g.channel_roll.save_eeprom(); - g.channel_pitch.save_eeprom(); - g.channel_throttle.save_eeprom(); - g.channel_rudder.save_eeprom(); - G_RC_AUX(k_aileron)->save_eeprom(); + // save to eeprom + g.channel_roll.save_eeprom(); + g.channel_pitch.save_eeprom(); + g.channel_throttle.save_eeprom(); + g.channel_rudder.save_eeprom(); + G_RC_AUX(k_aileron)->save_eeprom(); } static void trim_radio() { - for (int y = 0; y < 30; y++) { - read_radio(); - } + for (int y = 0; y < 30; y++) { + read_radio(); + } - // Store the trim values - // --------------------- - if(g.mix_mode == 0){ - g.channel_roll.radio_trim = g.channel_roll.radio_in; - g.channel_pitch.radio_trim = g.channel_pitch.radio_in; - //g.channel_throttle.radio_trim = g.channel_throttle.radio_in; - G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel + // Store the trim values + // --------------------- + if(g.mix_mode == 0) { + g.channel_roll.radio_trim = g.channel_roll.radio_in; + g.channel_pitch.radio_trim = g.channel_pitch.radio_in; + //g.channel_throttle.radio_trim = g.channel_throttle.radio_in; + G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel - } else { - elevon1_trim = ch1_temp; - elevon2_trim = ch2_temp; - uint16_t center = 1500; - g.channel_roll.radio_trim = center; - g.channel_pitch.radio_trim = center; - } - g.channel_rudder.radio_trim = g.channel_rudder.radio_in; + } else { + elevon1_trim = ch1_temp; + elevon2_trim = ch2_temp; + uint16_t center = 1500; + g.channel_roll.radio_trim = center; + g.channel_pitch.radio_trim = center; + } + g.channel_rudder.radio_trim = g.channel_rudder.radio_in; - // save to eeprom - g.channel_roll.save_eeprom(); - g.channel_pitch.save_eeprom(); - //g.channel_throttle.save_eeprom(); - g.channel_rudder.save_eeprom(); - G_RC_AUX(k_aileron)->save_eeprom(); + // save to eeprom + g.channel_roll.save_eeprom(); + g.channel_pitch.save_eeprom(); + //g.channel_throttle.save_eeprom(); + g.channel_rudder.save_eeprom(); + G_RC_AUX(k_aileron)->save_eeprom(); }