mirror of https://github.com/ArduPilot/ardupilot
222 lines
7.0 KiB
C++
222 lines
7.0 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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mixer for failsafe operation when FMU is dead
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include <SRV_Channel/SRV_Channel.h>
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#include "iofirmware.h"
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#define ANGLE_SCALE ((int32_t)4500)
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#define RANGE_SCALE ((int32_t)1000)
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/*
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return a RC input value scaled from -4500 to 4500
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*/
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int16_t AP_IOMCU_FW::mix_input_angle(uint8_t channel, uint16_t radio_in) const
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{
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const uint16_t &rc_min = mixing.rc_min[channel];
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const uint16_t &rc_max = mixing.rc_max[channel];
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const uint16_t &rc_trim = mixing.rc_trim[channel];
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const uint16_t &reversed = mixing.rc_reversed[channel];
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int16_t ret = 0;
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if (radio_in > rc_trim && rc_max != rc_trim) {
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ret = (ANGLE_SCALE * (int32_t)(radio_in - rc_trim)) / (int32_t)(rc_max - rc_trim);
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} else if (radio_in < rc_trim && rc_trim != rc_min) {
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ret = (ANGLE_SCALE * (int32_t)(radio_in - rc_trim)) / (int32_t)(rc_trim - rc_min);
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}
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if (reversed) {
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ret = -ret;
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}
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return ret;
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}
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/*
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return a RC input value scaled from 0 to 1000
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*/
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int16_t AP_IOMCU_FW::mix_input_range(uint8_t channel, uint16_t radio_in) const
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{
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const uint16_t &rc_min = mixing.rc_min[channel];
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const uint16_t &rc_max = mixing.rc_max[channel];
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const uint16_t &reversed = mixing.rc_reversed[channel];
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int16_t ret = 0;
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if (radio_in > rc_max) {
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ret = RANGE_SCALE;
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} else if (radio_in < rc_min) {
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ret = -RANGE_SCALE;
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} else {
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ret = (RANGE_SCALE * (int32_t)(radio_in - rc_min)) / (int32_t)(rc_max - rc_min);
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}
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if (reversed) {
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ret = -ret;
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}
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return ret;
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}
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/*
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return an output pwm giving an angle for a servo channel
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*/
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uint16_t AP_IOMCU_FW::mix_output_angle(uint8_t channel, int16_t angle) const
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{
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const uint16_t &srv_min = mixing.servo_min[channel];
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const uint16_t &srv_max = mixing.servo_max[channel];
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const uint16_t &srv_trim = mixing.servo_trim[channel];
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const uint16_t &reversed = mixing.servo_reversed[channel];
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if (reversed) {
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angle = -angle;
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}
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angle = constrain_int16(angle, -ANGLE_SCALE, ANGLE_SCALE);
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if (angle > 0) {
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return srv_trim + ((int32_t)angle * (int32_t)(srv_max - srv_trim)) / ANGLE_SCALE;
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}
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return srv_trim - (-(int32_t)angle * (int32_t)(srv_trim - srv_min)) / ANGLE_SCALE;
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}
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/*
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return an output pwm giving an range for a servo channel
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*/
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uint16_t AP_IOMCU_FW::mix_output_range(uint8_t channel, int16_t value) const
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{
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const uint16_t &srv_min = mixing.servo_min[channel];
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const uint16_t &srv_max = mixing.servo_max[channel];
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const uint16_t &reversed = mixing.servo_reversed[channel];
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value = constrain_int16(value, 0, RANGE_SCALE);
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if (reversed) {
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value = RANGE_SCALE - value;
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}
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return srv_min + ((int32_t)value * (int32_t)(srv_max - srv_min)) / RANGE_SCALE;
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}
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/*
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elevon and vtail mixer
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*/
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int16_t AP_IOMCU_FW::mix_elevon_vtail(int16_t angle1, int16_t angle2, bool first_output) const
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{
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if (first_output) {
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return (angle2 - angle1) * mixing.mixing_gain / 1000;
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}
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return (angle1 + angle2) * mixing.mixing_gain / 1000;
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}
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/*
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run mixer. This is used when FMU is not providing inputs, or when
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the OVERRIDE_CHAN is high. It allows for manual fixed wing flight
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*/
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void AP_IOMCU_FW::run_mixer(void)
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{
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int16_t rcin[4] = {0, 0, 0, 0};
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int16_t &roll = rcin[0];
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int16_t &pitch = rcin[1];
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int16_t &throttle = rcin[2];
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int16_t &rudder = rcin[3];
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// get RC input angles
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if (rc_input.flags_rc_ok) {
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for (uint8_t i=0;i<4; i++) {
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if (mixing.rc_channel[i] > 0 && mixing.rc_channel[i] <= IOMCU_MAX_CHANNELS) {
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uint8_t chan = mixing.rc_channel[i]-1;
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if (i == 2 && !mixing.throttle_is_angle) {
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rcin[i] = mix_input_range(i, rc_input.pwm[chan]);
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} else {
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rcin[i] = mix_input_angle(i, rc_input.pwm[chan]);
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}
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}
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}
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}
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for (uint8_t i=0; i<IOMCU_MAX_CHANNELS; i++) {
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SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)mixing.servo_function[i];
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uint16_t &pwm = reg_direct_pwm.pwm[i];
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if (mixing.manual_rc_mask & (1U<<i)) {
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// treat as pass-thru if this channel is set in MANUAL_RC_MASK
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function = SRV_Channel::k_manual;
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}
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switch (function) {
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case SRV_Channel::k_manual:
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pwm = rc_input.pwm[i];
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break;
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case SRV_Channel::k_rcin1 ... SRV_Channel::k_rcin16:
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pwm = rc_input.pwm[(uint8_t)(function - SRV_Channel::k_rcin1)];
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break;
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case SRV_Channel::k_aileron:
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case SRV_Channel::k_aileron_with_input:
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case SRV_Channel::k_flaperon_left:
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case SRV_Channel::k_flaperon_right:
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pwm = mix_output_angle(i, roll);
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break;
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case SRV_Channel::k_elevator:
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case SRV_Channel::k_elevator_with_input:
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pwm = mix_output_angle(i, pitch);
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break;
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case SRV_Channel::k_rudder:
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case SRV_Channel::k_steering:
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pwm = mix_output_angle(i, rudder);
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break;
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case SRV_Channel::k_throttle:
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case SRV_Channel::k_throttleLeft:
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case SRV_Channel::k_throttleRight:
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if (mixing.throttle_is_angle) {
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pwm = mix_output_angle(i, throttle);
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} else {
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pwm = mix_output_range(i, throttle);
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}
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break;
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case SRV_Channel::k_flap:
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case SRV_Channel::k_flap_auto:
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// zero flaps
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pwm = mix_output_range(i, 0);
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break;
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case SRV_Channel::k_elevon_left:
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case SRV_Channel::k_dspoilerLeft1:
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case SRV_Channel::k_dspoilerLeft2:
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// treat differential spoilers as elevons
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pwm = mix_output_angle(i, mix_elevon_vtail(roll, pitch, true));
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break;
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case SRV_Channel::k_elevon_right:
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case SRV_Channel::k_dspoilerRight1:
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case SRV_Channel::k_dspoilerRight2:
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// treat differential spoilers as elevons
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pwm = mix_output_angle(i, mix_elevon_vtail(roll, pitch, false));
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break;
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case SRV_Channel::k_vtail_left:
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pwm = mix_output_angle(i, mix_elevon_vtail(rudder, pitch, false));
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break;
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case SRV_Channel::k_vtail_right:
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pwm = mix_output_angle(i, mix_elevon_vtail(rudder, pitch, true));
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break;
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default:
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break;
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}
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}
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}
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