ardupilot/ArduCopter/esc_calibration.cpp

206 lines
6.3 KiB
C++

#include "Copter.h"
/*****************************************************************************
* Functions to check and perform ESC calibration
*****************************************************************************/
#define ESC_CALIBRATION_HIGH_THROTTLE 950
// enum for ESC CALIBRATION
enum ESCCalibrationModes {
ESCCAL_NONE = 0,
ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH = 1,
ESCCAL_PASSTHROUGH_ALWAYS = 2,
ESCCAL_AUTO = 3,
ESCCAL_DISABLED = 9,
};
// check if we should enter esc calibration mode
void Copter::esc_calibration_startup_check()
{
#if FRAME_CONFIG != HELI_FRAME
// delay up to 2 second for first radio input
uint8_t i = 0;
while ((i++ < 100) && (last_radio_update_ms == 0)) {
delay(20);
read_radio();
}
// exit immediately if pre-arm rc checks fail
arming.pre_arm_rc_checks(true);
if (!ap.pre_arm_rc_check) {
// clear esc flag for next time
if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) {
g.esc_calibrate.set_and_save(ESCCAL_NONE);
}
return;
}
// check ESC parameter
switch (g.esc_calibrate) {
case ESCCAL_NONE:
// check if throttle is high
if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
// we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
// send message to gcs
gcs_send_text(MAV_SEVERITY_CRITICAL,"ESC calibration: Restart board");
// turn on esc calibration notification
AP_Notify::flags.esc_calibration = true;
// block until we restart
while(1) { delay(5); }
}
break;
case ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH:
// check if throttle is high
if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
// pass through pilot throttle to escs
esc_calibration_passthrough();
}
break;
case ESCCAL_PASSTHROUGH_ALWAYS:
// pass through pilot throttle to escs
esc_calibration_passthrough();
break;
case ESCCAL_AUTO:
// perform automatic ESC calibration
esc_calibration_auto();
break;
case ESCCAL_DISABLED:
default:
// do nothing
break;
}
// clear esc flag for next time
if (g.esc_calibrate != ESCCAL_DISABLED) {
g.esc_calibrate.set_and_save(ESCCAL_NONE);
}
#endif // FRAME_CONFIG != HELI_FRAME
}
// esc_calibration_passthrough - pass through pilot throttle to escs
void Copter::esc_calibration_passthrough()
{
#if FRAME_CONFIG != HELI_FRAME
// clear esc flag for next time
g.esc_calibrate.set_and_save(ESCCAL_NONE);
if (motors->get_pwm_type() >= AP_Motors::PWM_TYPE_ONESHOT) {
// run at full speed for oneshot ESCs (actually done on push)
motors->set_update_rate(g.rc_speed);
} else {
// reduce update rate to motors to 50Hz
motors->set_update_rate(50);
}
// send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");
// disable safety if requested
BoardConfig.init_safety();
// arm motors
motors->armed(true);
motors->enable();
SRV_Channels::enable_by_mask(motors->get_motor_mask());
hal.util->set_soft_armed(true);
while(1) {
// flash LEDs
esc_calibration_notify();
// read pilot input
read_radio();
// we run at high rate to make oneshot ESCs happy. Normal ESCs
// will only see pulses at the RC_SPEED
delay(3);
// pass through to motors
hal.rcout->cork();
motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
hal.rcout->push();
}
#endif // FRAME_CONFIG != HELI_FRAME
}
// esc_calibration_auto - calibrate the ESCs automatically using a timer and no pilot input
void Copter::esc_calibration_auto()
{
#if FRAME_CONFIG != HELI_FRAME
bool printed_msg = false;
// clear esc flag for next time
g.esc_calibrate.set_and_save(ESCCAL_NONE);
if (motors->get_pwm_type() >= AP_Motors::PWM_TYPE_ONESHOT) {
// run at full speed for oneshot ESCs (actually done on push)
motors->set_update_rate(g.rc_speed);
} else {
// reduce update rate to motors to 50Hz
motors->set_update_rate(50);
}
// send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration");
// disable safety if requested
BoardConfig.init_safety();
// arm and enable motors
motors->armed(true);
motors->enable();
SRV_Channels::enable_by_mask(motors->get_motor_mask());
hal.util->set_soft_armed(true);
// flash LEDs
esc_calibration_notify();
// raise throttle to maximum
delay(10);
// wait for safety switch to be pressed
while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (!printed_msg) {
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
printed_msg = true;
}
hal.rcout->cork();
motors->set_throttle_passthrough_for_esc_calibration(1.0f);
hal.rcout->push();
esc_calibration_notify();
delay(3);
}
// delay for 5 seconds while outputting pulses
uint32_t tstart = millis();
while (millis() - tstart < 5000) {
motors->set_throttle_passthrough_for_esc_calibration(1.0f);
esc_calibration_notify();
delay(3);
}
// reduce throttle to minimum
motors->set_throttle_passthrough_for_esc_calibration(0.0f);
// block until we restart
while(1) {
motors->set_throttle_passthrough_for_esc_calibration(0.0f);
esc_calibration_notify();
delay(3);
}
#endif // FRAME_CONFIG != HELI_FRAME
}
// flash LEDs to notify the user that ESC calibration is happening
void Copter::esc_calibration_notify()
{
AP_Notify::flags.esc_calibration = true;
uint32_t now = AP_HAL::millis();
if (now - esc_calibration_notify_update_ms > 20) {
esc_calibration_notify_update_ms = now;
update_notify();
}
}