mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
094d571196
I have disabled steering disarming for skid steering rovers. Its perfectly reasonable for a skid steering rover to go hard left on the spot without any throttle and the user wouldn't want the rover to disarm during this procedure. If you disarm from the GCS for a skid steering rover we also ensure the steering channel is disabled.
249 lines
7.5 KiB
C++
249 lines
7.5 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#include "Rover.h"
|
|
|
|
/*
|
|
allow for runtime change of control channel ordering
|
|
*/
|
|
void Rover::set_control_channels(void)
|
|
{
|
|
channel_steer = RC_Channel::rc_channel(rcmap.roll()-1);
|
|
channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
|
|
channel_learn = RC_Channel::rc_channel(g.learn_channel-1);
|
|
|
|
// set rc channel ranges
|
|
channel_steer->set_angle(SERVO_MAX);
|
|
channel_throttle->set_angle(100);
|
|
|
|
// For a rover safety is TRIM throttle
|
|
if (!arming.is_armed() && arming.arming_required() == AP_Arming::YES_MIN_PWM) {
|
|
hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), channel_throttle->get_radio_trim());
|
|
if (g.skid_steer_out) {
|
|
hal.rcout->set_safety_pwm(1UL<<(rcmap.roll()-1), channel_steer->get_radio_trim());
|
|
}
|
|
}
|
|
|
|
// setup correct scaling for ESCs like the UAVCAN PX4ESC which
|
|
// take a proportion of speed.
|
|
hal.rcout->set_esc_scaling(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
|
|
}
|
|
|
|
void Rover::init_rc_in()
|
|
{
|
|
// set rc dead zones
|
|
channel_steer->set_default_dead_zone(30);
|
|
channel_throttle->set_default_dead_zone(30);
|
|
|
|
//set auxiliary ranges
|
|
update_aux();
|
|
}
|
|
|
|
void Rover::init_rc_out()
|
|
{
|
|
RC_Channel::rc_channel(CH_1)->enable_out();
|
|
RC_Channel::rc_channel(CH_3)->enable_out();
|
|
|
|
if (arming.arming_required() != AP_Arming::YES_ZERO_PWM) {
|
|
channel_throttle->enable_out();
|
|
if (g.skid_steer_out) {
|
|
channel_steer->enable_out();
|
|
}
|
|
}
|
|
|
|
RC_Channel::output_trim_all();
|
|
|
|
// setup PWM values to send if the FMU firmware dies
|
|
RC_Channel::setup_failsafe_trim_all();
|
|
|
|
// output throttle trim when safety off if arming
|
|
// is setup for min on disarm. MIN is from plane where MIN is effectively no throttle.
|
|
// For Rover's no throttle means TRIM as rovers can go backwards i.e. MIN throttle is
|
|
// full speed backward.
|
|
if (arming.arming_required() == AP_Arming::YES_MIN_PWM) {
|
|
hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), channel_throttle->get_radio_trim());
|
|
if (g.skid_steer_out) {
|
|
hal.rcout->set_safety_pwm(1UL<<(rcmap.roll()-1), channel_steer->get_radio_trim());
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
check for driver input on rudder/steering stick for arming/disarming
|
|
*/
|
|
void Rover::rudder_arm_disarm_check()
|
|
{
|
|
// In Rover we need to check that its set to the throttle trim and within the DZ
|
|
// if throttle is not within trim dz, then pilot cannot rudder arm/disarm
|
|
if (!channel_throttle->in_trim_dz()) {
|
|
rudder_arm_timer = 0;
|
|
return;
|
|
}
|
|
|
|
// if not in a manual throttle mode then disallow rudder arming/disarming
|
|
if (auto_throttle_mode) {
|
|
rudder_arm_timer = 0;
|
|
return;
|
|
}
|
|
|
|
if (!arming.is_armed()) {
|
|
// when not armed, full right rudder starts arming counter
|
|
if (channel_steer->get_control_in() > 4000) {
|
|
uint32_t now = millis();
|
|
|
|
if (rudder_arm_timer == 0 ||
|
|
now - rudder_arm_timer < 3000) {
|
|
|
|
if (rudder_arm_timer == 0) {
|
|
rudder_arm_timer = now;
|
|
}
|
|
} else {
|
|
//time to arm!
|
|
arm_motors(AP_Arming::RUDDER);
|
|
rudder_arm_timer = 0;
|
|
}
|
|
} else {
|
|
// not at full right rudder
|
|
rudder_arm_timer = 0;
|
|
}
|
|
} else if (!motor_active() & !g.skid_steer_out) {
|
|
// when armed and motor not active (not moving), full left rudder starts disarming counter
|
|
// This is disabled for skid steering otherwise when tring to turn a skid steering rover around
|
|
// the rover would disarm
|
|
if (channel_steer->get_control_in() < -4000) {
|
|
uint32_t now = millis();
|
|
|
|
if (rudder_arm_timer == 0 ||
|
|
now - rudder_arm_timer < 3000) {
|
|
if (rudder_arm_timer == 0) {
|
|
rudder_arm_timer = now;
|
|
}
|
|
} else {
|
|
//time to disarm!
|
|
disarm_motors();
|
|
rudder_arm_timer = 0;
|
|
}
|
|
} else {
|
|
// not at full left rudder
|
|
rudder_arm_timer = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
void Rover::read_radio()
|
|
{
|
|
if (!hal.rcin->new_input()) {
|
|
control_failsafe(channel_throttle->get_radio_in());
|
|
return;
|
|
}
|
|
|
|
failsafe.last_valid_rc_ms = AP_HAL::millis();
|
|
|
|
RC_Channel::set_pwm_all();
|
|
|
|
control_failsafe(channel_throttle->get_radio_in());
|
|
|
|
channel_throttle->set_servo_out(channel_throttle->get_control_in());
|
|
|
|
// Check if the throttle value is above 50% and we need to nudge
|
|
// Make sure its above 50% in the direction we are travelling
|
|
if ((abs(channel_throttle->get_servo_out()) > 50) &&
|
|
(((channel_throttle->get_servo_out() < 0) && in_reverse) ||
|
|
((channel_throttle->get_servo_out() > 0) && !in_reverse))) {
|
|
throttle_nudge = (g.throttle_max - g.throttle_cruise) *
|
|
((fabsf(channel_throttle->norm_input())-0.5f) / 0.5f);
|
|
} else {
|
|
throttle_nudge = 0;
|
|
}
|
|
|
|
if (g.skid_steer_in) {
|
|
// convert the two radio_in values from skid steering values
|
|
/*
|
|
mixing rule:
|
|
steering = motor1 - motor2
|
|
throttle = 0.5*(motor1 + motor2)
|
|
motor1 = throttle + 0.5*steering
|
|
motor2 = throttle - 0.5*steering
|
|
*/
|
|
|
|
float motor1 = channel_steer->norm_input();
|
|
float motor2 = channel_throttle->norm_input();
|
|
float steering_scaled = motor1 - motor2;
|
|
float throttle_scaled = 0.5f*(motor1 + motor2);
|
|
int16_t steer = channel_steer->get_radio_trim();
|
|
int16_t thr = channel_throttle->get_radio_trim();
|
|
if (steering_scaled > 0.0f) {
|
|
steer += steering_scaled*(channel_steer->get_radio_max()-channel_steer->get_radio_trim());
|
|
} else {
|
|
steer += steering_scaled*(channel_steer->get_radio_trim()-channel_steer->get_radio_min());
|
|
}
|
|
if (throttle_scaled > 0.0f) {
|
|
thr += throttle_scaled*(channel_throttle->get_radio_max()-channel_throttle->get_radio_trim());
|
|
} else {
|
|
thr += throttle_scaled*(channel_throttle->get_radio_trim()-channel_throttle->get_radio_min());
|
|
}
|
|
channel_steer->set_pwm(steer);
|
|
channel_throttle->set_pwm(thr);
|
|
}
|
|
|
|
rudder_arm_disarm_check();
|
|
|
|
}
|
|
|
|
void Rover::control_failsafe(uint16_t pwm)
|
|
{
|
|
if (!g.fs_throttle_enabled) {
|
|
// no throttle failsafe
|
|
return;
|
|
}
|
|
|
|
// Check for failsafe condition based on loss of GCS control
|
|
if (rc_override_active) {
|
|
failsafe_trigger(FAILSAFE_EVENT_RC, (millis() - failsafe.rc_override_timer) > 1500);
|
|
} else if (g.fs_throttle_enabled) {
|
|
bool failed = pwm < (uint16_t)g.fs_throttle_value;
|
|
if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 2000) {
|
|
failed = true;
|
|
}
|
|
failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed);
|
|
}
|
|
}
|
|
|
|
/*
|
|
return true if throttle level is below throttle failsafe threshold
|
|
or RC input is invalid
|
|
*/
|
|
bool Rover::throttle_failsafe_active(void)
|
|
{
|
|
if (!g.fs_throttle_enabled) {
|
|
return false;
|
|
}
|
|
if (millis() - failsafe.last_valid_rc_ms > 1000) {
|
|
// we haven't had a valid RC frame for 1 seconds
|
|
return true;
|
|
}
|
|
if (channel_throttle->get_reverse()) {
|
|
return channel_throttle->get_radio_in() >= g.fs_throttle_value;
|
|
}
|
|
return channel_throttle->get_radio_in() <= g.fs_throttle_value;
|
|
}
|
|
|
|
void Rover::trim_control_surfaces()
|
|
{
|
|
read_radio();
|
|
// Store control surface trim values
|
|
// ---------------------------------
|
|
if (channel_steer->get_radio_in() > 1400) {
|
|
channel_steer->set_radio_trim(channel_steer->get_radio_in());
|
|
// save to eeprom
|
|
channel_steer->save_eeprom();
|
|
}
|
|
}
|
|
|
|
void Rover::trim_radio()
|
|
{
|
|
for (int y = 0; y < 30; y++) {
|
|
read_radio();
|
|
}
|
|
trim_control_surfaces();
|
|
}
|