mirror of https://github.com/ArduPilot/ardupilot
138 lines
4.1 KiB
C++
138 lines
4.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Rover.h"
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/*
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allow for runtime change of control channel ordering
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*/
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void Rover::set_control_channels(void)
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{
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channel_steer = RC_Channel::rc_channel(rcmap.roll()-1);
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channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
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channel_learn = RC_Channel::rc_channel(g.learn_channel-1);
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// set rc channel ranges
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channel_steer->set_angle(SERVO_MAX);
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channel_throttle->set_angle(100);
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// setup correct scaling for ESCs like the UAVCAN PX4ESC which
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// take a proportion of speed.
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hal.rcout->set_esc_scaling(channel_throttle->radio_min, channel_throttle->radio_max);
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}
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void Rover::init_rc_in()
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{
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// set rc dead zones
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channel_steer->set_default_dead_zone(30);
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channel_throttle->set_default_dead_zone(30);
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//set auxiliary ranges
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update_aux();
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}
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void Rover::init_rc_out()
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{
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RC_Channel::rc_channel(CH_1)->enable_out();
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RC_Channel::rc_channel(CH_3)->enable_out();
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RC_Channel::output_trim_all();
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// setup PWM values to send if the FMU firmware dies
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RC_Channel::setup_failsafe_trim_all();
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}
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void Rover::read_radio()
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{
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if (!hal.rcin->new_input()) {
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control_failsafe(channel_throttle->radio_in);
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return;
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}
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failsafe.last_valid_rc_ms = hal.scheduler->millis();
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RC_Channel::set_pwm_all();
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control_failsafe(channel_throttle->radio_in);
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channel_throttle->servo_out = channel_throttle->control_in;
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// Check if the throttle value is above 50% and we need to nudge
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// Make sure its above 50% in the direction we are travelling
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if ((abs(channel_throttle->servo_out) > 50) &&
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(((channel_throttle->servo_out < 0) && in_reverse) ||
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((channel_throttle->servo_out > 0) && !in_reverse))) {
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throttle_nudge = (g.throttle_max - g.throttle_cruise) *
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((fabsf(channel_throttle->norm_input())-0.5f) / 0.5f);
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} else {
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throttle_nudge = 0;
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}
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if (g.skid_steer_in) {
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// convert the two radio_in values from skid steering values
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/*
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mixing rule:
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steering = motor1 - motor2
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throttle = 0.5*(motor1 + motor2)
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motor1 = throttle + 0.5*steering
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motor2 = throttle - 0.5*steering
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*/
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float motor1 = channel_steer->norm_input();
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float motor2 = channel_throttle->norm_input();
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float steering_scaled = motor1 - motor2;
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float throttle_scaled = 0.5f*(motor1 + motor2);
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int16_t steer = channel_steer->radio_trim;
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int16_t thr = channel_throttle->radio_trim;
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if (steering_scaled > 0.0f) {
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steer += steering_scaled*(channel_steer->radio_max-channel_steer->radio_trim);
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} else {
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steer += steering_scaled*(channel_steer->radio_trim-channel_steer->radio_min);
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}
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if (throttle_scaled > 0.0f) {
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thr += throttle_scaled*(channel_throttle->radio_max-channel_throttle->radio_trim);
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} else {
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thr += throttle_scaled*(channel_throttle->radio_trim-channel_throttle->radio_min);
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}
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channel_steer->set_pwm(steer);
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channel_throttle->set_pwm(thr);
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}
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}
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void Rover::control_failsafe(uint16_t pwm)
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{
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if (!g.fs_throttle_enabled) {
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// no throttle failsafe
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return;
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}
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// Check for failsafe condition based on loss of GCS control
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if (rc_override_active) {
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failsafe_trigger(FAILSAFE_EVENT_RC, (millis() - failsafe.rc_override_timer) > 1500);
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} else if (g.fs_throttle_enabled) {
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bool failed = pwm < (uint16_t)g.fs_throttle_value;
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if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 2000) {
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failed = true;
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}
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failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed);
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}
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}
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void Rover::trim_control_surfaces()
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{
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read_radio();
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// Store control surface trim values
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// ---------------------------------
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if (channel_steer->radio_in > 1400) {
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channel_steer->radio_trim = channel_steer->radio_in;
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// save to eeprom
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channel_steer->save_eeprom();
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}
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}
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void Rover::trim_radio()
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{
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for (int y = 0; y < 30; y++) {
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read_radio();
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}
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trim_control_surfaces();
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}
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