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ardupilot/ArduPlane/radio.cpp

443 lines
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C++
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#include "Plane.h"
//Function that will read the radio data, limit servos and trigger a failsafe
// ----------------------------------------------------------------------------
/*
allow for runtime change of control channel ordering
*/
void Plane::set_control_channels(void)
{
if (g.rudder_only) {
// in rudder only mode the roll and rudder channels are the
// same.
channel_roll = RC_Channels::rc_channel(rcmap.yaw()-1);
} else {
channel_roll = RC_Channels::rc_channel(rcmap.roll()-1);
}
channel_pitch = RC_Channels::rc_channel(rcmap.pitch()-1);
channel_throttle = RC_Channels::rc_channel(rcmap.throttle()-1);
channel_rudder = RC_Channels::rc_channel(rcmap.yaw()-1);
// set rc channel ranges
channel_roll->set_angle(SERVO_MAX);
channel_pitch->set_angle(SERVO_MAX);
channel_rudder->set_angle(SERVO_MAX);
if (!have_reverse_thrust()) {
// normal operation
channel_throttle->set_range(100);
} else {
// reverse thrust
if (have_reverse_throttle_rc_option) {
// when we have a reverse throttle RC option setup we use throttle
// as a range, and rely on the RC switch to get reverse thrust
channel_throttle->set_range(100);
} else {
channel_throttle->set_angle(100);
}
SRV_Channels::set_angle(SRV_Channel::k_throttle, 100);
SRV_Channels::set_angle(SRV_Channel::k_throttleLeft, 100);
SRV_Channels::set_angle(SRV_Channel::k_throttleRight, 100);
}
// update flap and airbrake channel assignment
channel_flap = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FLAP);
channel_airbrake = rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRBRAKE);
#if HAL_QUADPLANE_ENABLED
// update manual forward throttle channel assignment
quadplane.rc_fwd_thr_ch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FWD_THR);
#endif
// setup correct scaling for ESCs like the UAVCAN ESCs which
// take a proportion of speed.
g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
}
/*
initialise RC input channels
*/
void Plane::init_rc_in()
{
// set rc dead zones
channel_roll->set_default_dead_zone(30);
channel_pitch->set_default_dead_zone(30);
channel_rudder->set_default_dead_zone(30);
channel_throttle->set_default_dead_zone(30);
}
/*
initialise RC output for main channels. This is done early to allow
for BRD_SAFETY_DEFLT=0 and early servo control
*/
void Plane::init_rc_out_main()
{
/*
change throttle trim to minimum throttle. This prevents a
configuration error where the user sets CH3_TRIM incorrectly and
the motor may start on power up
*/
if (!have_reverse_thrust()) {
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttle);
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleLeft);
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleRight);
}
SRV_Channels::set_failsafe_limit(SRV_Channel::k_aileron, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::Limit::TRIM);
}
/*
initialise RC output channels for aux channels
*/
void Plane::init_rc_out_aux()
{
SRV_Channels::enable_aux_servos();
servos_output();
// setup PWM values to send if the FMU firmware dies
// allows any VTOL motors to shut off
SRV_Channels::setup_failsafe_trim_all_non_motors();
}
/*
check for pilot input on rudder stick for arming/disarming
*/
void Plane::rudder_arm_disarm_check()
{
const int16_t rudder_in = channel_rudder->get_control_in();
if (rudder_in == 0) {
// remember if we've seen neutral rudder, used for VTOL auto-takeoff
seen_neutral_rudder = true;
}
if (!arming.is_armed()) {
// when not armed, full right rudder starts arming counter
if (rudder_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!
arming.arm(AP_Arming::Method::RUDDER);
rudder_arm_timer = 0;
seen_neutral_rudder = false;
takeoff_state.rudder_takeoff_warn_ms = now;
}
} else {
// not at full right rudder
rudder_arm_timer = 0;
}
} else {
// full left rudder starts disarming counter
if (rudder_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!
arming.disarm(AP_Arming::Method::RUDDER);
rudder_arm_timer = 0;
}
} else {
// not at full left rudder
rudder_arm_timer = 0;
}
}
}
void Plane::read_radio()
{
if (!rc().read_input()) {
control_failsafe();
return;
}
if (!failsafe.rc_failsafe)
{
failsafe.AFS_last_valid_rc_ms = millis();
}
if (rc_throttle_value_ok()) {
failsafe.last_valid_rc_ms = millis();
}
control_failsafe();
#if AP_FENCE_ENABLED
const bool stickmixing = fence_stickmixing();
#else
const bool stickmixing = true;
#endif
airspeed_nudge_cm = 0;
throttle_nudge = 0;
if (g.throttle_nudge
&& channel_throttle->get_control_in() > 50
&& stickmixing) {
float nudge = (channel_throttle->get_control_in() - 50) * 0.02f;
if (ahrs.using_airspeed_sensor()) {
airspeed_nudge_cm = (aparm.airspeed_max - aparm.airspeed_cruise) * nudge * 100;
} else {
throttle_nudge = (aparm.throttle_max - aparm.throttle_cruise) * nudge;
}
}
rudder_arm_disarm_check();
#if HAL_QUADPLANE_ENABLED
// potentially swap inputs for tailsitters
quadplane.tailsitter.check_input();
#endif
#if AP_TUNING_ENABLED
// check for transmitter tuning changes
tuning.check_input(control_mode->mode_number());
#endif
}
int16_t Plane::rudder_input(void)
{
if (g.rudder_only != 0) {
// in rudder only mode we discard rudder input and get target
// attitude from the roll channel.
return 0;
}
if ((flight_option_enabled(FlightOptions::DIRECT_RUDDER_ONLY)) &&
!(control_mode == &mode_manual || control_mode == &mode_stabilize || control_mode == &mode_acro)) {
// the user does not want any input except in these modes
return 0;
}
if (stick_mixing_enabled()) {
return channel_rudder->get_control_in();
}
return 0;
}
void Plane::control_failsafe()
{
if (rc_failsafe_active()) {
// we do not have valid RC input. Set all primary channel
// control inputs to the trim value and throttle to min
channel_roll->set_radio_in(channel_roll->get_radio_trim());
channel_pitch->set_radio_in(channel_pitch->get_radio_trim());
channel_rudder->set_radio_in(channel_rudder->get_radio_trim());
// note that we don't set channel_throttle->radio_in to radio_trim,
// as that would cause throttle failsafe to not activate
channel_roll->set_control_in(0);
channel_pitch->set_control_in(0);
channel_rudder->set_control_in(0);
airspeed_nudge_cm = 0;
throttle_nudge = 0;
switch (control_mode->mode_number()) {
#if HAL_QUADPLANE_ENABLED
case Mode::Number::QSTABILIZE:
case Mode::Number::QHOVER:
case Mode::Number::QLOITER:
case Mode::Number::QLAND: // throttle is ignored, but reset anyways
case Mode::Number::QRTL: // throttle is ignored, but reset anyways
case Mode::Number::QACRO:
#if QAUTOTUNE_ENABLED
case Mode::Number::QAUTOTUNE:
#endif
if (quadplane.available() && quadplane.motors->get_desired_spool_state() > AP_Motors::DesiredSpoolState::GROUND_IDLE) {
// set half throttle to avoid descending at maximum rate, still has a slight descent due to throttle deadzone
channel_throttle->set_control_in(channel_throttle->get_range() / 2);
break;
}
FALLTHROUGH;
#endif
default:
channel_throttle->set_control_in(0);
break;
}
}
const bool allow_failsafe_bypass = !arming.is_armed() && !is_flying() && (rc().enabled_protocols() != 0);
const bool has_had_input = rc().has_had_rc_receiver() || rc().has_had_rc_override();
if ((ThrFailsafe(g.throttle_fs_enabled.get()) != ThrFailsafe::Enabled) || (allow_failsafe_bypass && !has_had_input)) {
// If not flying and disarmed don't trigger failsafe until RC has been received for the fist time
return;
}
if (rc_failsafe_active()) {
// we detect a failsafe from radio
// throttle has dropped below the mark
failsafe.throttle_counter++;
if (failsafe.throttle_counter == 10) {
gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe %s", "on");
failsafe.rc_failsafe = true;
AP_Notify::flags.failsafe_radio = true;
}
if (failsafe.throttle_counter > 10) {
failsafe.throttle_counter = 10;
}
} else if(failsafe.throttle_counter > 0) {
// we are no longer in failsafe condition
// but we need to recover quickly
failsafe.throttle_counter--;
if (failsafe.throttle_counter > 3) {
failsafe.throttle_counter = 3;
}
if (failsafe.throttle_counter == 1) {
gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe %s", "off");
} else if(failsafe.throttle_counter == 0) {
failsafe.rc_failsafe = false;
AP_Notify::flags.failsafe_radio = false;
}
}
}
void Plane::trim_radio()
{
if (failsafe.rc_failsafe) {
// can't trim if we don't have valid input
return;
}
if (plane.control_mode != &mode_manual) {
gcs().send_text(MAV_SEVERITY_ERROR, "trim failed, not in manual mode");
return;
}
if (labs(channel_roll->get_control_in()) > (channel_roll->get_range() * 0.2) ||
labs(channel_pitch->get_control_in()) > (channel_pitch->get_range() * 0.2)) {
// don't trim for extreme values - if we attempt to trim
// more than 20 percent range left then assume the
// sticks are not properly centered. This also prevents
// problems with starting APM with the TX off
gcs().send_text(MAV_SEVERITY_ERROR, "trim failed, large roll and pitch input");
return;
}
if (degrees(ahrs.get_gyro().length()) > 30.0) {
// rotating more than 30 deg/second
gcs().send_text(MAV_SEVERITY_ERROR, "trim failed, large movement");
return;
}
// trim main surfaces
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_aileron);
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_elevator);
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_rudder);
// trim elevons
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_elevon_left);
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_elevon_right);
// trim vtail
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_vtail_left);
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_vtail_right);
if (is_zero(SRV_Channels::get_output_scaled(SRV_Channel::k_rudder))) {
// trim differential spoilers if no rudder input
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_dspoilerLeft1);
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_dspoilerLeft2);
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_dspoilerRight1);
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_dspoilerRight2);
}
if (is_zero(SRV_Channels::get_slew_limited_output_scaled(SRV_Channel::k_flap_auto)) &&
is_zero(SRV_Channels::get_slew_limited_output_scaled(SRV_Channel::k_flap))) {
// trim flaperons if no flap input
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_flaperon_left);
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_flaperon_right);
}
// now save input trims, as these have been moved to the outputs
channel_roll->set_and_save_trim();
channel_pitch->set_and_save_trim();
channel_rudder->set_and_save_trim();
gcs().send_text(MAV_SEVERITY_NOTICE, "trim complete");
}
/*
check if throttle value is within allowed range
*/
bool Plane::rc_throttle_value_ok(void) const
{
if (ThrFailsafe(g.throttle_fs_enabled.get()) == ThrFailsafe::Disabled) {
return true;
}
if (channel_throttle->get_reverse()) {
return channel_throttle->get_radio_in() < g.throttle_fs_value;
}
return channel_throttle->get_radio_in() > g.throttle_fs_value;
}
/*
return true if throttle level is below throttle failsafe threshold
or RC input is invalid
*/
bool Plane::rc_failsafe_active(void) const
{
if (!rc_throttle_value_ok()) {
return true;
}
if (millis() - failsafe.last_valid_rc_ms > 1000) {
// we haven't had a valid RC frame for 1 seconds
return true;
}
return false;
}
/*
expo handling for MANUAL, ACRO and TRAINING modes
*/
static float channel_expo(RC_Channel *chan, int8_t expo, bool use_dz)
{
if (chan == nullptr) {
return 0;
}
float rin = use_dz? chan->get_control_in() : chan->get_control_in_zero_dz();
return SERVO_MAX * expo_curve(constrain_float(expo*0.01, 0, 1), rin/SERVO_MAX);
}
float Plane::roll_in_expo(bool use_dz) const
{
return channel_expo(channel_roll, g2.man_expo_roll, use_dz);
}
float Plane::pitch_in_expo(bool use_dz) const
{
return channel_expo(channel_pitch, g2.man_expo_pitch, use_dz);
}
float Plane::rudder_in_expo(bool use_dz) const
{
return channel_expo(channel_rudder, g2.man_expo_rudder, use_dz);
}
bool Plane::throttle_at_zero(void) const
{
/* true if throttle stick is at idle position...if throttle trim has been moved
to center stick area in conjunction with sprung throttle, cannot use in_trim, must use rc_min
*/
if (((!(flight_option_enabled(FlightOptions::CENTER_THROTTLE_TRIM) && channel_throttle->in_trim_dz())) ||
(flight_option_enabled(FlightOptions::CENTER_THROTTLE_TRIM)&& channel_throttle->in_min_dz()))) {
return true;
}
return false;
}
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