/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /* main logic for servo control */ #include "Plane.h" #include /***************************************** * Throttle slew limit *****************************************/ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func) { uint8_t slewrate = aparm.throttle_slewrate; if (control_mode == &mode_auto) { if (auto_state.takeoff_complete == false && g.takeoff_throttle_slewrate != 0) { slewrate = g.takeoff_throttle_slewrate; } else if (landing.get_throttle_slewrate() != 0 && flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) { slewrate = landing.get_throttle_slewrate(); } } // if slew limit rate is set to zero then do not slew limit if (slewrate) { SRV_Channels::limit_slew_rate(func, slewrate, G_Dt); } } /* We want to suppress the throttle if we think we are on the ground and in an autopilot controlled throttle mode. Disable throttle if following conditions are met: * 1 - We are in Circle mode (which we use for short term failsafe), or in FBW-B or higher * AND * 2 - Our reported altitude is within 10 meters of the home altitude. * 3 - Our reported speed is under 5 meters per second. * 4 - We are not performing a takeoff in Auto mode or takeoff speed/accel not yet reached * OR * 5 - Home location is not set * OR * 6- Landing does not want to allow throttle */ bool Plane::suppress_throttle(void) { #if PARACHUTE == ENABLED if (auto_throttle_mode && parachute.release_initiated()) { // throttle always suppressed in auto-throttle modes after parachute release initiated throttle_suppressed = true; return true; } #endif if (landing.is_throttle_suppressed()) { return true; } if (!throttle_suppressed) { // we've previously met a condition for unsupressing the throttle return false; } if (!auto_throttle_mode) { // the user controls the throttle throttle_suppressed = false; return false; } if (control_mode == &mode_auto && g.auto_fbw_steer == 42) { // user has throttle control return false; } bool gps_movement = (gps.status() >= AP_GPS::GPS_OK_FIX_2D && gps.ground_speed() >= 5); if ((control_mode == &mode_auto && auto_state.takeoff_complete == false) || control_mode == &mode_takeoff) { uint32_t launch_duration_ms = ((int32_t)g.takeoff_throttle_delay)*100 + 2000; if (is_flying() && millis() - started_flying_ms > MAX(launch_duration_ms, 5000U) && // been flying >5s in any mode adjusted_relative_altitude_cm() > 500 && // are >5m above AGL/home labs(ahrs.pitch_sensor) < 3000 && // not high pitch, which happens when held before launch gps_movement) { // definite gps movement // we're already flying, do not suppress the throttle. We can get // stuck in this condition if we reset a mission and cmd 1 is takeoff // but we're currently flying around below the takeoff altitude throttle_suppressed = false; return false; } if (auto_takeoff_check()) { // we're in auto takeoff throttle_suppressed = false; auto_state.baro_takeoff_alt = barometer.get_altitude(); return false; } // keep throttle suppressed return true; } if (fabsf(relative_altitude) >= 10.0f) { // we're more than 10m from the home altitude throttle_suppressed = false; return false; } if (gps_movement) { // if we have an airspeed sensor, then check it too, and // require 5m/s. This prevents throttle up due to spiky GPS // groundspeed with bad GPS reception if ((!ahrs.airspeed_sensor_enabled()) || airspeed.get_airspeed() >= 5) { // we're moving at more than 5 m/s throttle_suppressed = false; return false; } } if (quadplane.is_flying()) { throttle_suppressed = false; return false; } // throttle remains suppressed return true; } /* mixer for elevon and vtail channels setup using designated servo function values. This mixer operates purely on scaled values, allowing the user to trim and limit individual servos using the SERVOn_* parameters */ void Plane::channel_function_mixer(SRV_Channel::Aux_servo_function_t func1_in, SRV_Channel::Aux_servo_function_t func2_in, SRV_Channel::Aux_servo_function_t func1_out, SRV_Channel::Aux_servo_function_t func2_out) { // the order is setup so that non-reversed servos go "up", and // func1 is the "left" channel. Users can adjust with channel // reversal as needed float in1 = SRV_Channels::get_output_scaled(func1_in); float in2 = SRV_Channels::get_output_scaled(func2_in); // apply MIXING_OFFSET to input channels if (g.mixing_offset < 0) { in2 *= (100 - g.mixing_offset) * 0.01; } else if (g.mixing_offset > 0) { in1 *= (100 + g.mixing_offset) * 0.01; } float out1 = constrain_float((in2 - in1) * g.mixing_gain, -4500, 4500); float out2 = constrain_float((in2 + in1) * g.mixing_gain, -4500, 4500); SRV_Channels::set_output_scaled(func1_out, out1); SRV_Channels::set_output_scaled(func2_out, out2); } /* setup flaperon output channels */ void Plane::flaperon_update(int8_t flap_percent) { if (!SRV_Channels::function_assigned(SRV_Channel::k_flaperon_left) && !SRV_Channels::function_assigned(SRV_Channel::k_flaperon_right)) { return; } /* flaperons are implemented as a mixer between aileron and a percentage of flaps. Flap input can come from a manual channel or from auto flaps. */ float aileron = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron); float flaperon_left = constrain_float(aileron + flap_percent * 45, -4500, 4500); float flaperon_right = constrain_float(aileron - flap_percent * 45, -4500, 4500); SRV_Channels::set_output_scaled(SRV_Channel::k_flaperon_left, flaperon_left); SRV_Channels::set_output_scaled(SRV_Channel::k_flaperon_right, flaperon_right); } /* setup differential spoiler output channels Differential spoilers are a type of elevon that is split on each wing to give yaw control, mixed from rudder */ void Plane::dspoiler_update(void) { // just check we have a left dspoiler, and if so calculate all outputs if (!SRV_Channels::function_assigned(SRV_Channel::k_dspoilerLeft1)) { return; } const int8_t bitmask = g2.crow_flap_options.get(); const bool flying_wing = (bitmask & CrowFlapOptions::FLYINGWING) != 0; const bool full_span_aileron = (bitmask & CrowFlapOptions::FULLSPAN) != 0; const bool progresive_crow = (bitmask & CrowFlapOptions::PROGRESSIVE_CROW) != 0; // if flying wing use elevons else use ailerons float elevon_left; float elevon_right; if (flying_wing) { elevon_left = SRV_Channels::get_output_scaled(SRV_Channel::k_elevon_left); elevon_right = SRV_Channels::get_output_scaled(SRV_Channel::k_elevon_right); } else { const float aileron = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron); elevon_left = -aileron; elevon_right = aileron; } const float rudder_rate = g.dspoiler_rud_rate * 0.01f; const float rudder = SRV_Channels::get_output_scaled(SRV_Channel::k_rudder) * rudder_rate; float dspoiler_outer_left = elevon_left; float dspoiler_outer_right = elevon_right; float dspoiler_inner_left = 0; float dspoiler_inner_right = 0; // full span ailerons / elevons if (full_span_aileron) { dspoiler_inner_left = elevon_left; dspoiler_inner_right = elevon_right; } if (rudder > 0) { // apply rudder to right wing dspoiler_outer_right = constrain_float(dspoiler_outer_right + rudder, -4500, 4500); dspoiler_inner_right = constrain_float(dspoiler_inner_right - rudder, -4500, 4500); } else { // apply rudder to left wing dspoiler_outer_left = constrain_float(dspoiler_outer_left - rudder, -4500, 4500); dspoiler_inner_left = constrain_float(dspoiler_inner_left + rudder, -4500, 4500); } // limit flap throw used for aileron const int8_t aileron_matching = g2.crow_flap_aileron_matching.get(); if (aileron_matching < 100) { // only do matching if it will make a difference const float aileron_matching_scaled = aileron_matching * 0.01; if (is_negative(dspoiler_inner_left)) { dspoiler_inner_left *= aileron_matching_scaled; } if (is_negative(dspoiler_inner_right)) { dspoiler_inner_right *= aileron_matching_scaled; } } const int16_t weight_outer = g2.crow_flap_weight_outer.get(); const int16_t weight_inner = g2.crow_flap_weight_inner.get(); if (weight_outer > 0 || weight_inner > 0) { /* apply crow flaps by apply the same split of the differential spoilers to both wings. Get flap percentage from k_flap_auto, which is set in set_servos_flaps() as the maximum of manual and auto flap control */ const int16_t flap_percent = SRV_Channels::get_output_scaled(SRV_Channel::k_flap_auto); if (flap_percent > 0) { float inner_flap_scaled = (float)flap_percent; float outer_flap_scaled = (float)flap_percent; if (progresive_crow) { // apply 0 - full inner from 0 to 50% flap then add in outer above 50% inner_flap_scaled = constrain_float(inner_flap_scaled * 2, 0,100); outer_flap_scaled = constrain_float(outer_flap_scaled - 50, 0,50) * 2; } // scale flaps so when weights are 100 they give full up or down dspoiler_outer_left = constrain_float(dspoiler_outer_left + outer_flap_scaled * weight_outer * 0.45, -4500, 4500); dspoiler_inner_left = constrain_float(dspoiler_inner_left - inner_flap_scaled * weight_inner * 0.45, -4500, 4500); dspoiler_outer_right = constrain_float(dspoiler_outer_right + outer_flap_scaled * weight_outer * 0.45, -4500, 4500); dspoiler_inner_right = constrain_float(dspoiler_inner_right - inner_flap_scaled * weight_inner * 0.45, -4500, 4500); } } SRV_Channels::set_output_scaled(SRV_Channel::k_dspoilerLeft1, dspoiler_outer_left); SRV_Channels::set_output_scaled(SRV_Channel::k_dspoilerLeft2, dspoiler_inner_left); SRV_Channels::set_output_scaled(SRV_Channel::k_dspoilerRight1, dspoiler_outer_right); SRV_Channels::set_output_scaled(SRV_Channel::k_dspoilerRight2, dspoiler_inner_right); } /* setup servos for idle mode Idle mode is used during balloon launch to keep servos still, apart from occasional wiggle to prevent freezing up */ void Plane::set_servos_idle(void) { int16_t servo_value; // move over full range for 2 seconds if (auto_state.idle_wiggle_stage != 0) { auto_state.idle_wiggle_stage += 2; } if (auto_state.idle_wiggle_stage == 0) { servo_value = 0; } else if (auto_state.idle_wiggle_stage < 50) { servo_value = auto_state.idle_wiggle_stage * (4500 / 50); } else if (auto_state.idle_wiggle_stage < 100) { servo_value = (100 - auto_state.idle_wiggle_stage) * (4500 / 50); } else if (auto_state.idle_wiggle_stage < 150) { servo_value = (100 - auto_state.idle_wiggle_stage) * (4500 / 50); } else if (auto_state.idle_wiggle_stage < 200) { servo_value = (auto_state.idle_wiggle_stage-200) * (4500 / 50); } else { auto_state.idle_wiggle_stage = 0; servo_value = 0; } SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, servo_value); SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, servo_value); SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, servo_value); SRV_Channels::set_output_to_trim(SRV_Channel::k_throttle); SRV_Channels::output_ch_all(); } /* pass through channels in manual mode */ void Plane::set_servos_manual_passthrough(void) { SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, channel_roll->get_control_in_zero_dz()); SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, channel_pitch->get_control_in_zero_dz()); SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, channel_rudder->get_control_in_zero_dz()); int8_t throttle = get_throttle_input(true); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle); if (quadplane.available() && (quadplane.options & QuadPlane::OPTION_IDLE_GOV_MANUAL)) { // for quadplanes it can be useful to run the idle governor in MANUAL mode // as it prevents the VTOL motors from running int8_t min_throttle = aparm.throttle_min.get(); // apply idle governor g2.ice_control.update_idle_governor(min_throttle); throttle = MAX(throttle, min_throttle); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle); } } /* Scale the throttle to conpensate for battery voltage drop */ void Plane::throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle) { // return if not enabled, or setup incorrectly if (g2.fwd_thr_batt_voltage_min >= g2.fwd_thr_batt_voltage_max || !is_positive(g2.fwd_thr_batt_voltage_max)) { return; } float batt_voltage_resting_estimate = AP::battery().voltage_resting_estimate(g2.fwd_thr_batt_idx); // Return for a very low battery if (batt_voltage_resting_estimate < 0.25f * g2.fwd_thr_batt_voltage_min) { return; } // constrain read voltage to min and max params batt_voltage_resting_estimate = constrain_float(batt_voltage_resting_estimate,g2.fwd_thr_batt_voltage_min,g2.fwd_thr_batt_voltage_max); // don't apply compensation if the voltage is excessively low if (batt_voltage_resting_estimate < 1) { return; } // Scale the throttle up to compensate for voltage drop // Ratio = 1 when voltage = voltage max, ratio increases as voltage drops const float ratio = g2.fwd_thr_batt_voltage_max / batt_voltage_resting_estimate; // Scale the throttle limits to prevent subsequent clipping min_throttle = MAX((int8_t)(ratio * (float)min_throttle), -100); max_throttle = MIN((int8_t)(ratio * (float)max_throttle), 100); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * ratio, -100, 100)); } /* calculate any throttle limits based on the watt limiter */ void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle) { uint32_t now = millis(); if (battery.overpower_detected()) { // overpower detected, cut back on the throttle if we're maxing it out by calculating a limiter value // throttle limit will attack by 10% per second if (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) > 0 && // demanding too much positive thrust throttle_watt_limit_max < max_throttle - 25 && now - throttle_watt_limit_timer_ms >= 1) { // always allow for 25% throttle available regardless of battery status throttle_watt_limit_timer_ms = now; throttle_watt_limit_max++; } else if (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < 0 && min_throttle < 0 && // reverse thrust is available throttle_watt_limit_min < -(min_throttle) - 25 && now - throttle_watt_limit_timer_ms >= 1) { // always allow for 25% throttle available regardless of battery status throttle_watt_limit_timer_ms = now; throttle_watt_limit_min++; } } else if (now - throttle_watt_limit_timer_ms >= 1000) { // it has been 1 second since last over-current, check if we can resume higher throttle. // this throttle release is needed to allow raising the max_throttle as the battery voltage drains down // throttle limit will release by 1% per second if (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) > throttle_watt_limit_max && // demanding max forward thrust throttle_watt_limit_max > 0) { // and we're currently limiting it throttle_watt_limit_timer_ms = now; throttle_watt_limit_max--; } else if (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < throttle_watt_limit_min && // demanding max negative thrust throttle_watt_limit_min > 0) { // and we're limiting it throttle_watt_limit_timer_ms = now; throttle_watt_limit_min--; } } max_throttle = constrain_int16(max_throttle, 0, max_throttle - throttle_watt_limit_max); if (min_throttle < 0) { min_throttle = constrain_int16(min_throttle, min_throttle + throttle_watt_limit_min, 0); } } /* setup output channels all non-manual modes */ void Plane::set_servos_controlled(void) { if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) { // allow landing to override servos if it would like to landing.override_servos(); } // convert 0 to 100% (or -100 to +100) into PWM int8_t min_throttle = aparm.throttle_min.get(); int8_t max_throttle = aparm.throttle_max.get(); // apply idle governor g2.ice_control.update_idle_governor(min_throttle); if (min_throttle < 0 && !allow_reverse_thrust()) { // reverse thrust is available but inhibited. min_throttle = 0; } if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND || quadplane.in_transition()) { if (aparm.takeoff_throttle_max != 0) { max_throttle = aparm.takeoff_throttle_max; } else { max_throttle = aparm.throttle_max; } } else if (landing.is_flaring()) { min_throttle = 0; } // conpensate for battery voltage drop throttle_voltage_comp(min_throttle, max_throttle); // apply watt limiter throttle_watt_limiter(min_throttle, max_throttle); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle), min_throttle, max_throttle)); if (!hal.util->get_soft_armed()) { if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) { SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM); SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM); SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM); } else { SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0); } } else if (suppress_throttle()) { SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0 ); // default // throttle is suppressed (above) to zero in final flare in auto mode, but we allow instead thr_min if user prefers, eg turbines: if (landing.is_flaring() && landing.use_thr_min_during_flare() ) { SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, aparm.throttle_min.get()); } if (g.throttle_suppress_manual) { // manual pass through of throttle while throttle is suppressed SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true)); } } else if (control_mode == &mode_stabilize || control_mode == &mode_training || control_mode == &mode_acro || control_mode == &mode_fbwa || control_mode == &mode_autotune) { // a manual throttle mode if (failsafe.throttle_counter) { SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0); } else if (g.throttle_passthru_stabilize) { // manual pass through of throttle while in FBWA or // STABILIZE mode with THR_PASS_STAB set SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true)); } else { SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(get_throttle_input(true), min_throttle, max_throttle)); } } else if ((control_mode == &mode_guided || control_mode == &mode_avoidADSB) && guided_throttle_passthru) { // manual pass through of throttle while in GUIDED SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true)); } else if (quadplane.in_vtol_mode()) { int16_t fwd_thr = 0; // if armed and not spooled down ask quadplane code for forward throttle if (quadplane.motors->armed() && quadplane.motors->get_desired_spool_state() != AP_Motors::DesiredSpoolState::SHUT_DOWN) { fwd_thr = constrain_int16(quadplane.forward_throttle_pct(), min_throttle, max_throttle); } SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr); } // let EKF know to start GSF yaw estimator before takeoff movement starts so that yaw angle is better estimated const float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle); if (!is_flying() && arming.is_armed()) { bool throw_detected = sq(ahrs.get_accel_ef().x) + sq(ahrs.get_accel_ef().y) > sq(g.takeoff_throttle_min_accel); bool throttle_up_detected = throttle > aparm.throttle_cruise; if (throw_detected || throttle_up_detected) { plane.ahrs.setTakeoffExpected(true); } } } /* setup flap outputs */ void Plane::set_servos_flaps(void) { // Auto flap deployment int8_t auto_flap_percent = 0; int8_t manual_flap_percent = 0; // work out any manual flap input RC_Channel *flapin = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FLAP); if (flapin != nullptr && !failsafe.rc_failsafe && failsafe.throttle_counter == 0) { manual_flap_percent = flapin->percent_input(); } if (auto_throttle_mode) { int16_t flapSpeedSource = 0; if (ahrs.airspeed_sensor_enabled()) { flapSpeedSource = target_airspeed_cm * 0.01f; } else { flapSpeedSource = aparm.throttle_cruise; } if (g.flap_2_speed != 0 && flapSpeedSource <= g.flap_2_speed) { auto_flap_percent = g.flap_2_percent; } else if ( g.flap_1_speed != 0 && flapSpeedSource <= g.flap_1_speed) { auto_flap_percent = g.flap_1_percent; } //else flaps stay at default zero deflection /* special flap levels for takeoff and landing. This works better than speed based flaps as it leads to less possibility of oscillation */ switch (flight_stage) { case AP_Vehicle::FixedWing::FLIGHT_TAKEOFF: case AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND: if (g.takeoff_flap_percent != 0) { auto_flap_percent = g.takeoff_flap_percent; } break; case AP_Vehicle::FixedWing::FLIGHT_NORMAL: if (g.takeoff_flap_percent != 0 && in_preLaunch_flight_stage()) { // TODO: move this to a new FLIGHT_PRE_TAKEOFF stage auto_flap_percent = g.takeoff_flap_percent; } break; case AP_Vehicle::FixedWing::FLIGHT_LAND: if (landing.get_flap_percent() != 0) { auto_flap_percent = landing.get_flap_percent(); } break; default: break; } } // manual flap input overrides auto flap input if (abs(manual_flap_percent) > auto_flap_percent) { auto_flap_percent = manual_flap_percent; } SRV_Channels::set_output_scaled(SRV_Channel::k_flap_auto, auto_flap_percent); SRV_Channels::set_output_scaled(SRV_Channel::k_flap, manual_flap_percent); if (g.flap_slewrate) { SRV_Channels::limit_slew_rate(SRV_Channel::k_flap_auto, g.flap_slewrate, G_Dt); SRV_Channels::limit_slew_rate(SRV_Channel::k_flap, g.flap_slewrate, G_Dt); } // output to flaperons, if any flaperon_update(auto_flap_percent); } #if LANDING_GEAR_ENABLED == ENABLED /* setup landing gear state */ void Plane::set_landing_gear(void) { if (control_mode == &mode_auto && hal.util->get_soft_armed() && is_flying() && gear.last_flight_stage != flight_stage) { switch (flight_stage) { case AP_Vehicle::FixedWing::FLIGHT_LAND: g2.landing_gear.deploy_for_landing(); break; case AP_Vehicle::FixedWing::FLIGHT_NORMAL: g2.landing_gear.retract_after_takeoff(); break; default: break; } } gear.last_flight_stage = flight_stage; } #endif // LANDING_GEAR_ENABLED /* apply vtail and elevon mixers the rewrites radio_out for the corresponding channels */ void Plane::servo_output_mixers(void) { // mix elevons and vtail channels channel_function_mixer(SRV_Channel::k_aileron, SRV_Channel::k_elevator, SRV_Channel::k_elevon_left, SRV_Channel::k_elevon_right); channel_function_mixer(SRV_Channel::k_rudder, SRV_Channel::k_elevator, SRV_Channel::k_vtail_right, SRV_Channel::k_vtail_left); // implement differential spoilers dspoiler_update(); } /* support for twin-engine planes */ void Plane::servos_twin_engine_mix(void) { float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle); float rud_gain = float(plane.g2.rudd_dt_gain) / 100; rudder_dt = rud_gain * SRV_Channels::get_output_scaled(SRV_Channel::k_rudder) / float(SERVO_MAX); #if ADVANCED_FAILSAFE == ENABLED if (afs.should_crash_vehicle()) { // when in AFS failsafe force rudder input for differential thrust to zero rudder_dt = 0; } #endif float throttle_left, throttle_right; if (throttle < 0 && have_reverse_thrust() && allow_reverse_thrust()) { // doing reverse thrust throttle_left = constrain_float(throttle + 50 * rudder_dt, -100, 0); throttle_right = constrain_float(throttle - 50 * rudder_dt, -100, 0); } else if (throttle <= 0) { throttle_left = throttle_right = 0; } else { // doing forward thrust throttle_left = constrain_float(throttle + 50 * rudder_dt, 0, 100); throttle_right = constrain_float(throttle - 50 * rudder_dt, 0, 100); } if (!hal.util->get_soft_armed()) { if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) { SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM); SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM); } else { SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0); } } else { SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left); SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right); throttle_slew_limit(SRV_Channel::k_throttleLeft); throttle_slew_limit(SRV_Channel::k_throttleRight); } } /* Set the flight control servos based on the current calculated values This function operates by first building up output values for channels using set_servo() and set_radio_out(). Using set_radio_out() is for when a raw PWM value of output is given which does not depend on any output scaling. Using set_servo() is for when scaling and mixing will be needed. Finally servos_output() is called to push the final PWM values for output channels */ void Plane::set_servos(void) { // start with output corked. the cork is released when we run // servos_output(), which is run from all code paths in this // function SRV_Channels::cork(); // this is to allow the failsafe module to deliberately crash // the plane. Only used in extreme circumstances to meet the // OBC rules #if ADVANCED_FAILSAFE == ENABLED if (afs.should_crash_vehicle()) { afs.terminate_vehicle(); if (!afs.terminating_vehicle_via_landing()) { return; } } #endif // do any transition updates for quadplane quadplane.update(); if (control_mode == &mode_auto && auto_state.idle_mode) { // special handling for balloon launch set_servos_idle(); servos_output(); return; } /* see if we are doing ground steering. */ if (!steering_control.ground_steering) { // we are not at an altitude for ground steering. Set the nose // wheel to the rudder just in case the barometer has drifted // a lot steering_control.steering = steering_control.rudder; } else if (!SRV_Channels::function_assigned(SRV_Channel::k_steering)) { // we are within the ground steering altitude but don't have a // dedicated steering channel. Set the rudder to the ground // steering output steering_control.rudder = steering_control.steering; } // clear ground_steering to ensure manual control if the yaw stabilizer doesn't run steering_control.ground_steering = false; if (control_mode == &mode_training) { steering_control.rudder = channel_rudder->get_control_in(); } SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, steering_control.rudder); SRV_Channels::set_output_scaled(SRV_Channel::k_steering, steering_control.steering); if (control_mode == &mode_manual) { set_servos_manual_passthrough(); } else { set_servos_controlled(); } // setup flap outputs set_servos_flaps(); #if LANDING_GEAR_ENABLED == ENABLED // setup landing gear output set_landing_gear(); #endif if (auto_throttle_mode || quadplane.in_assisted_flight() || quadplane.in_vtol_mode()) { /* only do throttle slew limiting in modes where throttle * control is automatic */ throttle_slew_limit(SRV_Channel::k_throttle); } if (!arming.is_armed()) { //Some ESCs get noisy (beep error msgs) if PWM == 0. //This little segment aims to avoid this. switch (arming.arming_required()) { case AP_Arming::Required::NO: //keep existing behavior: do nothing to radio_out //(don't disarm throttle channel even if AP_Arming class is) break; case AP_Arming::Required::YES_ZERO_PWM: SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, 0); SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, 0); SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, 0); break; case AP_Arming::Required::YES_MIN_PWM: default: int8_t min_throttle = MAX(aparm.throttle_min.get(),0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, min_throttle); SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, min_throttle); SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, min_throttle); break; } } #if HIL_SUPPORT if (g.hil_mode == 1) { // get the servos to the GCS immediately for HIL if (HAVE_PAYLOAD_SPACE(MAVLINK_COMM_0, RC_CHANNELS_SCALED)) { send_servo_out(MAVLINK_COMM_0); } if (!g.hil_servos) { // we don't run the output mixer return; } } #endif if (landing.get_then_servos_neutral() > 0 && control_mode == &mode_auto && landing.get_disarm_delay() > 0 && landing.is_complete() && !arming.is_armed()) { // after an auto land and auto disarm, set the servos to be neutral just // in case we're upside down or some crazy angle and straining the servos. if (landing.get_then_servos_neutral() == 1) { SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0); } else if (landing.get_then_servos_neutral() == 2) { SRV_Channels::set_output_limit(SRV_Channel::k_aileron, SRV_Channel::Limit::ZERO_PWM); SRV_Channels::set_output_limit(SRV_Channel::k_elevator, SRV_Channel::Limit::ZERO_PWM); SRV_Channels::set_output_limit(SRV_Channel::k_rudder, SRV_Channel::Limit::ZERO_PWM); } } uint8_t override_pct; if (g2.ice_control.throttle_override(override_pct)) { // the ICE controller wants to override the throttle for starting SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, override_pct); } // run output mixer and send values to the hal for output servos_output(); } /* run configured output mixer. This takes calculated servo_out values for each channel and calculates PWM values, then pushes them to hal.rcout */ void Plane::servos_output(void) { SRV_Channels::cork(); // support twin-engine aircraft servos_twin_engine_mix(); // cope with tailsitters and bicopters quadplane.tailsitter_output(); quadplane.tiltrotor_bicopter(); // run vtail and elevon mixers servo_output_mixers(); // support MANUAL_RCMASK if (g2.manual_rc_mask.get() != 0 && control_mode == &mode_manual) { SRV_Channels::copy_radio_in_out_mask(uint16_t(g2.manual_rc_mask.get())); } SRV_Channels::calc_pwm(); SRV_Channels::output_ch_all(); SRV_Channels::push(); if (g2.servo_channels.auto_trim_enabled()) { servos_auto_trim(); } } void Plane::update_throttle_hover() { // update hover throttle at 100Hz quadplane.update_throttle_hover(); } /* implement automatic persistent trim of control surfaces with AUTO_TRIM=2, only available when SERVO_RNG_ENABLE=1 as otherwise it would impact R/C transmitter calibration */ void Plane::servos_auto_trim(void) { // only in auto modes and FBWA if (!auto_throttle_mode && control_mode != &mode_fbwa) { return; } if (!hal.util->get_soft_armed()) { return; } if (!is_flying()) { return; } if (quadplane.in_assisted_flight() || quadplane.in_vtol_mode()) { // can't auto-trim with quadplane motors running return; } if (abs(nav_roll_cd) > 700 || abs(nav_pitch_cd) > 700) { // only when close to level return; } uint32_t now = AP_HAL::millis(); if (now - auto_trim.last_trim_check < 500) { // check twice a second. We want slow trim update return; } if (ahrs.groundspeed() < 8 || smoothed_airspeed < 8) { // only when definitely moving return; } // adjust trim on channels by a small amount according to I value float roll_I = rollController.get_pid_info().I; float pitch_I = pitchController.get_pid_info().I; g2.servo_channels.adjust_trim(SRV_Channel::k_aileron, roll_I); g2.servo_channels.adjust_trim(SRV_Channel::k_elevator, pitch_I); g2.servo_channels.adjust_trim(SRV_Channel::k_elevon_left, pitch_I - roll_I); g2.servo_channels.adjust_trim(SRV_Channel::k_elevon_right, pitch_I + roll_I); g2.servo_channels.adjust_trim(SRV_Channel::k_vtail_left, pitch_I); g2.servo_channels.adjust_trim(SRV_Channel::k_vtail_right, pitch_I); g2.servo_channels.adjust_trim(SRV_Channel::k_flaperon_left, roll_I); g2.servo_channels.adjust_trim(SRV_Channel::k_flaperon_right, roll_I); // cope with various dspoiler options const int8_t bitmask = g2.crow_flap_options.get(); const bool flying_wing = (bitmask & CrowFlapOptions::FLYINGWING) != 0; const bool full_span_aileron = (bitmask & CrowFlapOptions::FULLSPAN) != 0; float dspoiler_outer_left = - roll_I; float dspoiler_inner_left = 0.0f; float dspoiler_outer_right = roll_I; float dspoiler_inner_right = 0.0f; if (flying_wing) { dspoiler_outer_left += pitch_I; dspoiler_outer_right += pitch_I; } if (full_span_aileron) { dspoiler_inner_left = dspoiler_outer_left; dspoiler_inner_right = dspoiler_outer_right; } g2.servo_channels.adjust_trim(SRV_Channel::k_dspoilerLeft1, dspoiler_outer_left); g2.servo_channels.adjust_trim(SRV_Channel::k_dspoilerLeft2, dspoiler_inner_left); g2.servo_channels.adjust_trim(SRV_Channel::k_dspoilerRight1, dspoiler_outer_right); g2.servo_channels.adjust_trim(SRV_Channel::k_dspoilerRight2, dspoiler_inner_right); auto_trim.last_trim_check = now; if (now - auto_trim.last_trim_save > 10000) { auto_trim.last_trim_save = now; g2.servo_channels.save_trim(); } }