mirror of https://github.com/ArduPilot/ardupilot
186 lines
4.1 KiB
Plaintext
186 lines
4.1 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//Function that will read the radio data, limit servos and trigger a failsafe
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// ----------------------------------------------------------------------------
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byte failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling
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void init_rc_in()
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{
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//read_EEPROM_radio(); // read Radio limits
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// set rc channel ranges
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g.rc_1.set_angle(4500);
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g.rc_2.set_angle(4500);
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g.rc_3.set_range(0,1000);
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g.rc_3.scale_output = .9;
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g.rc_4.set_angle(4500);
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g.rc_1.set_type(RC_CHANNEL_ANGLE_RAW);
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g.rc_2.set_type(RC_CHANNEL_ANGLE_RAW);
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g.rc_4.set_type(RC_CHANNEL_ANGLE_RAW);
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// set rc dead zones
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g.rc_1.dead_zone = 60; // 60 = .6 degrees
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g.rc_2.dead_zone = 60;
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g.rc_3.dead_zone = 60;
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g.rc_4.dead_zone = 500;
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//set auxiliary ranges
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g.rc_5.set_range(0,1000);
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g.rc_5.set_filter(false);
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g.rc_6.set_range(0,1000);
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g.rc_7.set_range(0,1000);
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g.rc_8.set_range(0,1000);
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#if CHANNEL_6_TUNING == CH6_STABLIZE_KD
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g.rc_6.set_range(0,300);
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#elif CHANNEL_6_TUNING == CH6_BARO_KP
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g.rc_6.set_range(0,500);
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#elif CHANNEL_6_TUNING == CH6_BARO_KD
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g.rc_6.set_range(0,500);
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#elif CHANNEL_6_TUNING == CH6_Y6_SCALING
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g.rc_6.set_range(800,1000);
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#endif
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//catch bad RC_3 min values
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}
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void init_rc_out()
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{
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#if ARM_AT_STARTUP == 1
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motor_armed = 1;
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#endif
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APM_RC.Init(); // APM Radio initialization
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// fix for crazy output
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OCR1B = 0xFFFF; // PB6, OUT3
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OCR1C = 0xFFFF; // PB7, OUT4
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OCR5B = 0xFFFF; // PL4, OUT1
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OCR5C = 0xFFFF; // PL5, OUT2
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OCR4B = 0xFFFF; // PH4, OUT6
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OCR4C = 0xFFFF; // PH5, OUT5
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if(g.rc_3.radio_min <= 1200){
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output_min();
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}
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for(byte i = 0; i < 5; i++){
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delay(20);
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read_radio();
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}
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// sanity check
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if(g.rc_3.radio_min >= 1300){
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g.rc_3.radio_min = g.rc_3.radio_in;
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output_min();
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}
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}
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void output_min()
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{
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APM_RC.OutputCh(CH_1, g.rc_3.radio_min); // Initialization of servo outputs
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APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
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}
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void read_radio()
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{
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g.rc_1.set_pwm(APM_RC.InputCh(CH_1));
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g.rc_2.set_pwm(APM_RC.InputCh(CH_2));
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g.rc_3.set_pwm(APM_RC.InputCh(CH_3));
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g.rc_4.set_pwm(APM_RC.InputCh(CH_4));
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g.rc_5.set_pwm(APM_RC.InputCh(CH_5));
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g.rc_6.set_pwm(APM_RC.InputCh(CH_6));
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g.rc_7.set_pwm(APM_RC.InputCh(CH_7));
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g.rc_8.set_pwm(APM_RC.InputCh(CH_8));
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// limit our input to 800 so we can still pitch and roll
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g.rc_3.control_in = min(g.rc_3.control_in, 800);
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//throttle_failsafe(g.rc_3.radio_in);
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/*
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Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"),
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g.rc_1.control_in,
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g.rc_2.control_in,
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g.rc_3.control_in,
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g.rc_4.control_in);
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*/
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}
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void throttle_failsafe(uint16_t pwm)
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{
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if(g.throttle_fs_enabled == 0)
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return;
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//check for failsafe and debounce funky reads
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// ------------------------------------------
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if (pwm < g.throttle_fs_value){
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// we detect a failsafe from radio
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// throttle has dropped below the mark
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failsafeCounter++;
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if (failsafeCounter == 9){
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SendDebug("MSG FS ON ");
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SendDebugln(pwm, DEC);
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}else if(failsafeCounter == 10) {
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ch3_failsafe = true;
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//set_failsafe(true);
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//failsafeCounter = 10;
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}else if (failsafeCounter > 10){
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failsafeCounter = 11;
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}
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}else if(failsafeCounter > 0){
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// we are no longer in failsafe condition
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// but we need to recover quickly
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failsafeCounter--;
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if (failsafeCounter > 3){
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failsafeCounter = 3;
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}
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if (failsafeCounter == 1){
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SendDebug("MSG FS OFF ");
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SendDebugln(pwm, DEC);
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}else if(failsafeCounter == 0) {
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ch3_failsafe = false;
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//set_failsafe(false);
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//failsafeCounter = -1;
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}else if (failsafeCounter <0){
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failsafeCounter = -1;
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}
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}
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}
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void trim_radio()
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{
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for (byte i = 0; i < 30; i++){
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read_radio();
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}
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g.rc_1.trim(); // roll
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g.rc_2.trim(); // pitch
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g.rc_4.trim(); // yaw
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g.rc_1.save_eeprom();
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g.rc_2.save_eeprom();
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g.rc_4.save_eeprom();
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}
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void trim_yaw()
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{
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for (byte i = 0; i < 30; i++){
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read_radio();
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}
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g.rc_4.trim(); // yaw
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}
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