mirror of https://github.com/ArduPilot/ardupilot
328 lines
13 KiB
C++
328 lines
13 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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/*
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handle creation of PX4 mixer file, for failover to direct RC control
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on failure of FMU
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This will create APM/MIXER.MIX on the microSD card. The user may
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also create APM/CUSTOM.MIX, and if it exists that will be used
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instead. That allows the user to setup more complex failsafe mixes
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that include flaps, landing gear, ignition cut etc
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*/
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <drivers/drv_pwm_output.h>
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#include <systemlib/mixer/mixer.h>
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/*
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create a mixer file given key fixed wing parameters
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*/
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bool Plane::create_mixer_file(const char *filename)
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{
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int mix_fd = open(filename, O_WRONLY|O_CREAT|O_TRUNC, 0644);
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if (mix_fd == -1) {
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hal.console->printf("Unable to create mixer file\n");
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return false;
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}
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dprintf(mix_fd, "Auto-generated mixer file for ArduPilot\n\n");
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/*
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this is the equivalent of channel_output_mixer()
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*/
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const int8_t mixmul[5][2] = { { 0, 0 }, { 1, 1 }, { 1, -1 }, { -1, 1 }, { -1, -1 }};
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// these are the internal clipping limits. Use scale_max1 when
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// clipping to user specified min/max is wanted. Use scale_max2
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// when no clipping is wanted (simulated by setting a very large
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// clipping value)
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const float scale_max1 = 10000;
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const float scale_max2 = 1000000;
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// range for mixers
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const uint16_t mix_max = scale_max1 * g.mixing_gain;
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// scaling factors used by PX4IO between pwm and internal values,
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// as configured in setup_failsafe_mixing() below
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const float pwm_min = 900;
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const float pwm_max = 2100;
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const float pwm_scale = 2*scale_max1/(pwm_max - pwm_min);
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for (uint8_t i=0; i<8; i++) {
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int32_t c1, c2, mix=0;
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bool rev = false;
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RC_Channel_aux::Aux_servo_function_t function = RC_Channel_aux::channel_function(i);
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if (i == rcmap.pitch()-1 && g.vtail_output > MIXING_DISABLED && g.vtail_output <= MIXING_DNDN) {
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// first channel of VTAIL mix
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c1 = rcmap.yaw()-1;
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c2 = i;
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rev = false;
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mix = -mix_max*mixmul[g.vtail_output][0];
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} else if (i == rcmap.yaw()-1 && g.vtail_output > MIXING_DISABLED && g.vtail_output <= MIXING_DNDN) {
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// second channel of VTAIL mix
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c1 = rcmap.pitch()-1;
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c2 = i;
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rev = true;
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mix = mix_max*mixmul[g.vtail_output][1];
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} else if (i == rcmap.roll()-1 && g.elevon_output > MIXING_DISABLED &&
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g.elevon_output <= MIXING_DNDN && g.vtail_output == 0) {
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// first channel of ELEVON mix
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c1 = i;
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c2 = rcmap.pitch()-1;
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rev = true;
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mix = mix_max*mixmul[g.elevon_output][1];
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} else if (i == rcmap.pitch()-1 && g.elevon_output > MIXING_DISABLED &&
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g.elevon_output <= MIXING_DNDN && g.vtail_output == 0) {
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// second channel of ELEVON mix
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c1 = i;
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c2 = rcmap.roll()-1;
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rev = false;
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mix = mix_max*mixmul[g.elevon_output][0];
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} else if (function == RC_Channel_aux::k_aileron ||
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function == RC_Channel_aux::k_flaperon1 ||
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function == RC_Channel_aux::k_flaperon2) {
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// a secondary aileron. We don't mix flap input in yet for flaperons
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c1 = rcmap.roll()-1;
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} else if (function == RC_Channel_aux::k_elevator) {
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// a secondary elevator
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c1 = rcmap.pitch()-1;
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} else if (function == RC_Channel_aux::k_rudder ||
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function == RC_Channel_aux::k_steering) {
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// a secondary rudder or wheel
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c1 = rcmap.yaw()-1;
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} else if (g.flapin_channel > 0 &&
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(function == RC_Channel_aux::k_flap ||
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function == RC_Channel_aux::k_flap_auto)) {
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// a flap output channel, and we have a manual flap input channel
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c1 = g.flapin_channel-1;
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} else if (i < 4 ||
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function == RC_Channel_aux::k_elevator_with_input ||
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function == RC_Channel_aux::k_aileron_with_input ||
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function == RC_Channel_aux::k_manual) {
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// a pass-thru channel
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c1 = i;
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} else {
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// a empty output
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dprintf(mix_fd, "Z:\n\n");
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continue;
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}
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if (mix == 0) {
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// pass thru channel, possibly with reversal. We also
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// adjust the gain based on the range of input and output
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// channels and adjust for trims
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const RC_Channel *chan1 = RC_Channel::rc_channel(i);
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const RC_Channel *chan2 = RC_Channel::rc_channel(c1);
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int16_t chan1_trim = (i==rcmap.throttle()-1?1500:chan1->radio_trim);
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int16_t chan2_trim = (c1==rcmap.throttle()-1?1500:chan2->radio_trim);
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// if the input and output channels are the same then we
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// apply clipping. This allows for direct pass-thru
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int32_t limit = (c1==i?scale_max2:scale_max1);
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int32_t in_scale_low;
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if (chan2_trim <= chan2->radio_min) {
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in_scale_low = scale_max1;
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} else {
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in_scale_low = scale_max1*(chan2_trim - pwm_min)/(float)(chan2_trim - chan2->radio_min);
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}
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int32_t in_scale_high;
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if (chan2->radio_max <= chan2_trim) {
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in_scale_high = scale_max1;
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} else {
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in_scale_high = scale_max1*(pwm_max - chan2_trim)/(float)(chan2->radio_max - chan2_trim);
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}
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if (chan1->get_reverse() != chan2->get_reverse()) {
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in_scale_low = -in_scale_low;
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in_scale_high = -in_scale_high;
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}
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dprintf(mix_fd, "M: 1\n");
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dprintf(mix_fd, "O: %d %d %d %d %d\n",
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(int)(pwm_scale*(chan1_trim - chan1->radio_min)),
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(int)(pwm_scale*(chan1->radio_max - chan1_trim)),
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(int)(pwm_scale*(chan1_trim - 1500)),
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(int)-scale_max2, (int)scale_max2);
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dprintf(mix_fd, "S: 0 %u %d %d %d %d %d\n\n", c1,
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in_scale_low,
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in_scale_high,
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0,
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-limit, limit);
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} else {
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const RC_Channel *chan1 = RC_Channel::rc_channel(c1);
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const RC_Channel *chan2 = RC_Channel::rc_channel(c2);
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int16_t chan1_trim = (c1==rcmap.throttle()-1?1500:chan1->radio_trim);
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int16_t chan2_trim = (c2==rcmap.throttle()-1?1500:chan2->radio_trim);
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// mix of two input channels to give an output channel. To
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// make the mixer match the behaviour of APM we need to
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// scale and offset the input channels to undo the affects
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// of the PX4IO input processing
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dprintf(mix_fd, "M: 2\n");
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dprintf(mix_fd, "O: %d %d 0 %d %d\n", mix, mix, (int)-scale_max1, (int)scale_max1);
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int32_t in_scale_low = pwm_scale*(chan1_trim - pwm_min);
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int32_t in_scale_high = pwm_scale*(pwm_max - chan1_trim);
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int32_t offset = pwm_scale*(chan1_trim - 1500);
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dprintf(mix_fd, "S: 0 %u %d %d %d %d %d\n",
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c1, in_scale_low, in_scale_high, offset,
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(int)-scale_max2, (int)scale_max2);
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in_scale_low = pwm_scale*(chan2_trim - pwm_min);
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in_scale_high = pwm_scale*(pwm_max - chan2_trim);
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offset = pwm_scale*(chan2_trim - 1500);
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if (rev) {
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dprintf(mix_fd, "S: 0 %u %d %d %d %d %d\n\n",
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c2, in_scale_low, in_scale_high, offset,
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(int)-scale_max2, (int)scale_max2);
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} else {
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dprintf(mix_fd, "S: 0 %u %d %d %d %d %d\n\n",
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c2, -in_scale_low, -in_scale_high, -offset,
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(int)-scale_max2, (int)scale_max2);
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}
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}
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}
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close(mix_fd);
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return true;
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}
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/*
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setup mixer on PX4 so that if FMU dies the pilot gets manual control
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*/
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bool Plane::setup_failsafe_mixing(void)
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{
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// we create MIXER.MIX regardless of whether we will be using it,
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// as it gives a template for the user to modify to create their
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// own CUSTOM.MIX file
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const char *mixer_filename = "/fs/microsd/APM/MIXER.MIX";
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const char *custom_mixer_filename = "/fs/microsd/APM/CUSTOM.MIX";
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bool ret = false;
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char *buf = NULL;
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const uint16_t buf_size = 2048;
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if (!create_mixer_file(mixer_filename)) {
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return false;
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}
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struct stat st;
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const char *filename;
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if (stat(custom_mixer_filename, &st) == 0) {
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filename = custom_mixer_filename;
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} else {
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filename = mixer_filename;
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}
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enum AP_HAL::Util::safety_state old_state = hal.util->safety_switch_state();
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struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 8};
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int px4io_fd = open("/dev/px4io", 0);
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if (px4io_fd == -1) {
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// px4io isn't started, no point in setting up a mixer
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return false;
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}
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buf = (char *)malloc(buf_size);
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if (buf == NULL) {
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goto failed;
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}
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if (load_mixer_file(filename, &buf[0], buf_size) != 0) {
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hal.console->printf("Unable to load %s\n", filename);
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goto failed;
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}
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if (old_state == AP_HAL::Util::SAFETY_ARMED) {
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// make sure the throttle has a non-zero failsafe value before we
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// disable safety. This prevents sending zero PWM during switch over
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hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), channel_throttle->radio_min);
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}
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// we need to force safety on to allow us to load a mixer
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hal.rcout->force_safety_on();
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/* reset any existing mixer in px4io. This shouldn't be needed,
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* but is good practice */
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if (ioctl(px4io_fd, MIXERIOCRESET, 0) != 0) {
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hal.console->printf("Unable to reset mixer\n");
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goto failed;
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}
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/* pass the buffer to the device */
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if (ioctl(px4io_fd, MIXERIOCLOADBUF, (unsigned long)buf) != 0) {
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hal.console->printf("Unable to send mixer to IO\n");
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goto failed;
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}
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// setup RC config for each channel based on user specified
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// mix/max/trim. We only do the first 8 channels due to
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// a RC config limitation in px4io.c limiting to PX4IO_RC_MAPPED_CONTROL_CHANNELS
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for (uint8_t i=0; i<8; i++) {
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RC_Channel *ch = RC_Channel::rc_channel(i);
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if (ch == NULL) {
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continue;
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}
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struct pwm_output_rc_config config;
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/*
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we use a min/max of 900/2100 to allow for pass-thru of
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larger values than the RC min/max range. This mimics the APM
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behaviour of pass-thru in manual, which allows for dual-rate
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transmitter setups in manual mode to go beyond the ranges
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used in stabilised modes
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*/
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config.channel = i;
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config.rc_min = 900;
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config.rc_max = 2100;
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if (rcmap.throttle()-1 == i) {
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// throttle uses a trim of 1500, so we don't get division
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// by small numbers near RC3_MIN
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config.rc_trim = 1500;
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} else {
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config.rc_trim = constrain_int16(ch->radio_trim, config.rc_min, config.rc_max);
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}
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config.rc_dz = 0; // zero for the purposes of manual takeover
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config.rc_assignment = i;
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// we set reverse as false, as users of ArduPilot will have
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// input reversed on transmitter, so from the point of view of
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// the mixer the input is never reversed. The one exception is
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// the 2nd channel, which is reversed inside the PX4IO code,
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// so needs to be unreversed here to give sane behaviour.
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if (i == 1) {
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config.rc_reverse = true;
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} else {
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config.rc_reverse = false;
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}
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if (ioctl(px4io_fd, PWM_SERVO_SET_RC_CONFIG, (unsigned long)&config) != 0) {
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hal.console->printf("SET_RC_CONFIG failed\n");
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}
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}
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for (uint8_t i = 0; i < pwm_values.channel_count; i++) {
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pwm_values.values[i] = 900;
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}
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ioctl(px4io_fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
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for (uint8_t i = 0; i < pwm_values.channel_count; i++) {
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pwm_values.values[i] = 2100;
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}
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ioctl(px4io_fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
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ioctl(px4io_fd, PWM_SERVO_SET_OVERRIDE_OK, 0);
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// setup for immediate manual control if FMU dies
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ioctl(px4io_fd, PWM_SERVO_SET_OVERRIDE_IMMEDIATE, 1);
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ret = true;
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failed:
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if (buf != NULL) {
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free(buf);
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}
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if (px4io_fd != -1) {
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close(px4io_fd);
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}
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// restore safety state if it was previously armed
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if (old_state == AP_HAL::Util::SAFETY_ARMED) {
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hal.rcout->force_safety_off();
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}
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return ret;
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}
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#endif // CONFIG_HAL_BOARD
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