mirror of https://github.com/ArduPilot/ardupilot
353 lines
11 KiB
C++
353 lines
11 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Plane.h"
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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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/*
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allow for runtime change of control channel ordering
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*/
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void Plane::set_control_channels(void)
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{
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if (g.rudder_only) {
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// in rudder only mode the roll and rudder channels are the
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// same.
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channel_roll = RC_Channel::rc_channel(rcmap.yaw()-1);
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} else {
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channel_roll = RC_Channel::rc_channel(rcmap.roll()-1);
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}
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channel_pitch = RC_Channel::rc_channel(rcmap.pitch()-1);
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channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
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channel_rudder = RC_Channel::rc_channel(rcmap.yaw()-1);
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// set rc channel ranges
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channel_roll->set_angle(SERVO_MAX);
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channel_pitch->set_angle(SERVO_MAX);
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channel_rudder->set_angle(SERVO_MAX);
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if (aparm.throttle_min >= 0) {
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// normal operation
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channel_throttle->set_range(0, 100);
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} else {
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// reverse thrust
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channel_throttle->set_angle(100);
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}
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if (!arming.is_armed() && arming.arming_required() == AP_Arming::YES_MIN_PWM) {
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hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), throttle_min());
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}
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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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/*
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initialise RC input channels
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*/
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void Plane::init_rc_in()
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{
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// set rc dead zones
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channel_roll->set_default_dead_zone(30);
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channel_pitch->set_default_dead_zone(30);
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channel_rudder->set_default_dead_zone(30);
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channel_throttle->set_default_dead_zone(30);
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}
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/*
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initialise RC output channels
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*/
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void Plane::init_rc_out()
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{
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channel_roll->enable_out();
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channel_pitch->enable_out();
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/*
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change throttle trim to minimum throttle. This prevents a
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configuration error where the user sets CH3_TRIM incorrectly and
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the motor may start on power up
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*/
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channel_throttle->radio_trim = throttle_min();
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if (arming.arming_required() != AP_Arming::YES_ZERO_PWM) {
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channel_throttle->enable_out();
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}
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channel_rudder->enable_out();
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update_aux();
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RC_Channel_aux::enable_aux_servos();
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// Initialization of servo outputs
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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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// setup PX4 to output the min throttle when safety off if arming
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// is setup for min on disarm
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if (arming.arming_required() == AP_Arming::YES_MIN_PWM) {
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hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), throttle_min());
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}
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}
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/*
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check for pilot input on rudder stick for arming/disarming
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*/
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void Plane::rudder_arm_disarm_check()
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{
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AP_Arming::ArmingRudder arming_rudder = arming.rudder_arming();
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if (arming_rudder == AP_Arming::ARMING_RUDDER_DISABLED) {
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//parameter disallows rudder arming/disabling
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return;
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}
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// if throttle is not down, then pilot cannot rudder arm/disarm
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if (channel_throttle->control_in != 0){
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rudder_arm_timer = 0;
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return;
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}
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// if not in a manual throttle mode then disallow rudder arming/disarming
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if (auto_throttle_mode ) {
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rudder_arm_timer = 0;
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return;
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}
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if (!arming.is_armed()) {
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// when not armed, full right rudder starts arming counter
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if (channel_rudder->control_in > 4000) {
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uint32_t now = millis();
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if (rudder_arm_timer == 0 ||
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now - rudder_arm_timer < 3000) {
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if (rudder_arm_timer == 0) {
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rudder_arm_timer = now;
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}
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} else {
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//time to arm!
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arm_motors(AP_Arming::RUDDER);
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rudder_arm_timer = 0;
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}
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} else {
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// not at full right rudder
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rudder_arm_timer = 0;
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}
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} else if (arming_rudder == AP_Arming::ARMING_RUDDER_ARMDISARM && !is_flying()) {
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// when armed and not flying, full left rudder starts disarming counter
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if (channel_rudder->control_in < -4000) {
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uint32_t now = millis();
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if (rudder_arm_timer == 0 ||
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now - rudder_arm_timer < 3000) {
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if (rudder_arm_timer == 0) {
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rudder_arm_timer = now;
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}
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} else {
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//time to disarm!
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disarm_motors();
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rudder_arm_timer = 0;
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}
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} else {
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// not at full left rudder
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rudder_arm_timer = 0;
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}
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}
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}
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void Plane::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 = millis();
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elevon.ch1_temp = channel_roll->read();
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elevon.ch2_temp = channel_pitch->read();
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uint16_t pwm_roll, pwm_pitch;
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if (g.mix_mode == 0) {
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pwm_roll = elevon.ch1_temp;
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pwm_pitch = elevon.ch2_temp;
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}else{
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pwm_roll = BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(elevon.ch2_temp - elevon.trim2) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(elevon.ch1_temp - elevon.trim1)) / 2 + 1500;
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pwm_pitch = (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(elevon.ch2_temp - elevon.trim2) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(elevon.ch1_temp - elevon.trim1)) / 2 + 1500;
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}
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RC_Channel::set_pwm_all();
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if (control_mode == TRAINING) {
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// in training mode we don't want to use a deadzone, as we
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// want manual pass through when not exceeding attitude limits
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channel_roll->set_pwm_no_deadzone(pwm_roll);
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channel_pitch->set_pwm_no_deadzone(pwm_pitch);
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channel_throttle->set_pwm_no_deadzone(channel_throttle->read());
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channel_rudder->set_pwm_no_deadzone(channel_rudder->read());
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} else {
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channel_roll->set_pwm(pwm_roll);
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channel_pitch->set_pwm(pwm_pitch);
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}
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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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if (g.throttle_nudge && channel_throttle->servo_out > 50 && geofence_stickmixing()) {
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float nudge = (channel_throttle->servo_out - 50) * 0.02f;
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if (ahrs.airspeed_sensor_enabled()) {
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airspeed_nudge_cm = (aparm.airspeed_max * 100 - g.airspeed_cruise_cm) * nudge;
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} else {
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throttle_nudge = (aparm.throttle_max - aparm.throttle_cruise) * nudge;
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}
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} else {
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airspeed_nudge_cm = 0;
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throttle_nudge = 0;
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}
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rudder_arm_disarm_check();
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if (g.rudder_only != 0) {
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// in rudder only mode we discard rudder input and get target
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// attitude from the roll channel.
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rudder_input = 0;
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} else {
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rudder_input = channel_rudder->control_in;
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}
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}
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void Plane::control_failsafe(uint16_t pwm)
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{
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if (millis() - failsafe.last_valid_rc_ms > 1000 || rc_failsafe_active()) {
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// we do not have valid RC input. Set all primary channel
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// control inputs to the trim value and throttle to min
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channel_roll->radio_in = channel_roll->radio_trim;
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channel_pitch->radio_in = channel_pitch->radio_trim;
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channel_rudder->radio_in = channel_rudder->radio_trim;
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// note that we don't set channel_throttle->radio_in to radio_trim,
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// as that would cause throttle failsafe to not activate
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channel_roll->control_in = 0;
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channel_pitch->control_in = 0;
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channel_rudder->control_in = 0;
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channel_throttle->control_in = 0;
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}
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if(g.throttle_fs_enabled == 0)
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return;
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if (g.throttle_fs_enabled) {
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if (rc_failsafe_active()) {
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// we detect a failsafe from radio
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// throttle has dropped below the mark
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failsafe.ch3_counter++;
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if (failsafe.ch3_counter == 10) {
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gcs_send_text_fmt(MAV_SEVERITY_WARNING, "MSG FS ON %u", (unsigned)pwm);
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failsafe.ch3_failsafe = true;
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AP_Notify::flags.failsafe_radio = true;
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}
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if (failsafe.ch3_counter > 10) {
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failsafe.ch3_counter = 10;
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}
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}else if(failsafe.ch3_counter > 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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failsafe.ch3_counter--;
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if (failsafe.ch3_counter > 3) {
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failsafe.ch3_counter = 3;
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}
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if (failsafe.ch3_counter == 1) {
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gcs_send_text_fmt(MAV_SEVERITY_WARNING, "MSG FS OFF %u", (unsigned)pwm);
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} else if(failsafe.ch3_counter == 0) {
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failsafe.ch3_failsafe = false;
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AP_Notify::flags.failsafe_radio = false;
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}
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}
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}
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}
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void Plane::trim_control_surfaces()
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{
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read_radio();
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int16_t trim_roll_range = (channel_roll->radio_max - channel_roll->radio_min)/5;
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int16_t trim_pitch_range = (channel_pitch->radio_max - channel_pitch->radio_min)/5;
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if (channel_roll->radio_in < channel_roll->radio_min+trim_roll_range ||
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channel_roll->radio_in > channel_roll->radio_max-trim_roll_range ||
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channel_pitch->radio_in < channel_pitch->radio_min+trim_pitch_range ||
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channel_pitch->radio_in > channel_pitch->radio_max-trim_pitch_range) {
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// don't trim for extreme values - if we attempt to trim so
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// there is less than 20 percent range left then assume the
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// sticks are not properly centered. This also prevents
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// problems with starting APM with the TX off
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return;
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}
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// Store control surface trim values
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// ---------------------------------
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if(g.mix_mode == 0) {
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if (channel_roll->radio_in != 0) {
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channel_roll->radio_trim = channel_roll->radio_in;
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}
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if (channel_pitch->radio_in != 0) {
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channel_pitch->radio_trim = channel_pitch->radio_in;
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}
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// the secondary aileron/elevator is trimmed only if it has a
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// corresponding transmitter input channel, which k_aileron
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// doesn't have
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RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_aileron_with_input);
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RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_elevator_with_input);
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} else{
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if (elevon.ch1_temp != 0) {
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elevon.trim1 = elevon.ch1_temp;
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}
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if (elevon.ch2_temp != 0) {
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elevon.trim2 = elevon.ch2_temp;
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}
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//Recompute values here using new values for elevon1_trim and elevon2_trim
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//We cannot use radio_in[CH_ROLL] and radio_in[CH_PITCH] values from read_radio() because the elevon trim values have changed
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uint16_t center = 1500;
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channel_roll->radio_trim = center;
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channel_pitch->radio_trim = center;
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}
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if (channel_rudder->radio_in != 0) {
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channel_rudder->radio_trim = channel_rudder->radio_in;
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}
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// save to eeprom
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channel_roll->save_eeprom();
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channel_pitch->save_eeprom();
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channel_rudder->save_eeprom();
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}
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void Plane::trim_radio()
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{
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for (uint8_t 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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/*
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return true if throttle level is below throttle failsafe threshold
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or RC input is invalid
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*/
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bool Plane::rc_failsafe_active(void)
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{
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if (!g.throttle_fs_enabled) {
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return false;
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}
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if (millis() - failsafe.last_valid_rc_ms > 1000) {
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// we haven't had a valid RC frame for 1 seconds
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return true;
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}
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if (channel_throttle->get_reverse()) {
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return channel_throttle->radio_in >= g.throttle_fs_value;
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}
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return channel_throttle->radio_in <= g.throttle_fs_value;
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}
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