ardupilot/ArduCopter/radio.cpp

219 lines
7.9 KiB
C++

#include "Copter.h"
// Function that will read the radio data, limit servos and trigger a failsafe
// ----------------------------------------------------------------------------
void Copter::default_dead_zones()
{
channel_roll->set_default_dead_zone(20);
channel_pitch->set_default_dead_zone(20);
#if FRAME_CONFIG == HELI_FRAME
channel_throttle->set_default_dead_zone(10);
channel_yaw->set_default_dead_zone(15);
#else
channel_throttle->set_default_dead_zone(30);
channel_yaw->set_default_dead_zone(20);
#endif
rc().channel(CH_6)->set_default_dead_zone(0);
}
void Copter::init_rc_in()
{
channel_roll = rc().channel(rcmap.roll()-1);
channel_pitch = rc().channel(rcmap.pitch()-1);
channel_throttle = rc().channel(rcmap.throttle()-1);
channel_yaw = rc().channel(rcmap.yaw()-1);
// set rc channel ranges
channel_roll->set_angle(ROLL_PITCH_YAW_INPUT_MAX);
channel_pitch->set_angle(ROLL_PITCH_YAW_INPUT_MAX);
channel_yaw->set_angle(ROLL_PITCH_YAW_INPUT_MAX);
channel_throttle->set_range(1000);
// set default dead zones
default_dead_zones();
// initialise throttle_zero flag
ap.throttle_zero = true;
}
// init_rc_out -- initialise motors
void Copter::init_rc_out()
{
motors->set_loop_rate(scheduler.get_loop_rate_hz());
motors->init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());
// enable aux servos to cope with multiple output channels per motor
SRV_Channels::enable_aux_servos();
// update rate must be set after motors->init() to allow for motor mapping
motors->set_update_rate(g.rc_speed);
#if FRAME_CONFIG != HELI_FRAME
if (channel_throttle->configured_in_storage()) {
// throttle inputs setup, use those to set motor PWM min and max if not already configured
motors->convert_pwm_min_max_param(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
} else {
// throttle inputs default, force set motor PWM min and max to defaults so they will not be over-written by a future change in RC min / max
motors->convert_pwm_min_max_param(1000, 2000);
}
motors->update_throttle_range();
#else
// setup correct scaling for ESCs like the UAVCAN ESCs which
// take a proportion of speed.
hal.rcout->set_esc_scaling(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif
// refresh auxiliary channel to function map
SRV_Channels::update_aux_servo_function();
#if FRAME_CONFIG != HELI_FRAME
/*
setup a default safety ignore mask, so that servo gimbals can be active while safety is on
*/
uint16_t safety_ignore_mask = (~copter.motors->get_motor_mask()) & 0x3FFF;
BoardConfig.set_default_safety_ignore_mask(safety_ignore_mask);
#endif
}
// enable_motor_output() - enable and output lowest possible value to motors
void Copter::enable_motor_output()
{
// enable motors
motors->output_min();
}
void Copter::read_radio()
{
const uint32_t tnow_ms = millis();
if (rc().read_input()) {
ap.new_radio_frame = true;
set_throttle_and_failsafe(channel_throttle->get_radio_in());
set_throttle_zero_flag(channel_throttle->get_control_in());
// RC receiver must be attached if we've just got input
ap.rc_receiver_present = true;
// pass pilot input through to motors (used to allow wiggling servos while disarmed on heli, single, coax copters)
radio_passthrough_to_motors();
const float dt = (tnow_ms - last_radio_update_ms)*1.0e-3f;
rc_throttle_control_in_filter.apply(channel_throttle->get_control_in(), dt);
last_radio_update_ms = tnow_ms;
return;
}
// No radio input this time
if (failsafe.radio) {
// already in failsafe!
return;
}
const uint32_t elapsed = tnow_ms - last_radio_update_ms;
// turn on throttle failsafe if no update from the RC Radio for 500ms or 2000ms if we are using RC_OVERRIDE
const uint32_t timeout = RC_Channels::has_active_overrides() ? FS_RADIO_RC_OVERRIDE_TIMEOUT_MS : FS_RADIO_TIMEOUT_MS;
if (elapsed < timeout) {
// not timed out yet
return;
}
if (!g.failsafe_throttle) {
// throttle failsafe not enabled
return;
}
if (!ap.rc_receiver_present && !motors->armed()) {
// we only failsafe if we are armed OR we have ever seen an RC receiver
return;
}
// Nobody ever talks to us. Log an error and enter failsafe.
AP::logger().Write_Error(LogErrorSubsystem::RADIO, LogErrorCode::RADIO_LATE_FRAME);
set_failsafe_radio(true);
}
#define FS_COUNTER 3 // radio failsafe kicks in after 3 consecutive throttle values below failsafe_throttle_value
void Copter::set_throttle_and_failsafe(uint16_t throttle_pwm)
{
// if failsafe not enabled pass through throttle and exit
if(g.failsafe_throttle == FS_THR_DISABLED) {
return;
}
//check for low throttle value
if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) {
// if we are already in failsafe or motors not armed pass through throttle and exit
if (failsafe.radio || !(ap.rc_receiver_present || motors->armed())) {
return;
}
// check for 3 low throttle values
// Note: we do not pass through the low throttle until 3 low throttle values are received
failsafe.radio_counter++;
if( failsafe.radio_counter >= FS_COUNTER ) {
failsafe.radio_counter = FS_COUNTER; // check to ensure we don't overflow the counter
set_failsafe_radio(true);
}
}else{
// we have a good throttle so reduce failsafe counter
failsafe.radio_counter--;
if( failsafe.radio_counter <= 0 ) {
failsafe.radio_counter = 0; // check to ensure we don't underflow the counter
// disengage failsafe after three (nearly) consecutive valid throttle values
if (failsafe.radio) {
set_failsafe_radio(false);
}
}
// pass through throttle
}
}
#define THROTTLE_ZERO_DEBOUNCE_TIME_MS 400
// set_throttle_zero_flag - set throttle_zero flag from debounced throttle control
// throttle_zero is used to determine if the pilot intends to shut down the motors
// Basically, this signals when we are not flying. We are either on the ground
// or the pilot has shut down the copter in the air and it is free-falling
void Copter::set_throttle_zero_flag(int16_t throttle_control)
{
static uint32_t last_nonzero_throttle_ms = 0;
uint32_t tnow_ms = millis();
// if not using throttle interlock and non-zero throttle and not E-stopped,
// or using motor interlock and it's enabled, then motors are running,
// and we are flying. Immediately set as non-zero
if ((!ap.using_interlock && (throttle_control > 0) && !SRV_Channels::get_emergency_stop()) ||
(ap.using_interlock && motors->get_interlock()) ||
ap.armed_with_airmode_switch || air_mode == AirMode::AIRMODE_ENABLED) {
last_nonzero_throttle_ms = tnow_ms;
ap.throttle_zero = false;
} else if (tnow_ms - last_nonzero_throttle_ms > THROTTLE_ZERO_DEBOUNCE_TIME_MS) {
ap.throttle_zero = true;
}
}
// pass pilot's inputs to motors library (used to allow wiggling servos while disarmed on heli, single, coax copters)
void Copter::radio_passthrough_to_motors()
{
motors->set_radio_passthrough(channel_roll->norm_input(),
channel_pitch->norm_input(),
channel_throttle->get_control_in_zero_dz()*0.001f,
channel_yaw->norm_input());
}
/*
return the throttle input for mid-stick as a control-in value
*/
int16_t Copter::get_throttle_mid(void)
{
#if TOY_MODE_ENABLED == ENABLED
if (g2.toy_mode.enabled()) {
return g2.toy_mode.get_throttle_mid();
}
#endif
return channel_throttle->get_control_mid();
}