mirror of https://github.com/ArduPilot/ardupilot
614 lines
22 KiB
C++
614 lines
22 KiB
C++
#include "Copter.h"
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#define CONTROL_SWITCH_DEBOUNCE_TIME_MS 200
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//Documentation of Aux Switch Flags:
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struct {
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uint8_t CH6_flag : 2; // 0, 1 // ch6 aux switch : 0 is low or false, 1 is center or true, 2 is high
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uint8_t CH7_flag : 2; // 2, 3 // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
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uint8_t CH8_flag : 2; // 4, 5 // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
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uint8_t CH9_flag : 2; // 6, 7 // ch9 aux switch : 0 is low or false, 1 is center or true, 2 is high
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uint8_t CH10_flag : 2; // 8, 9 // ch10 aux switch : 0 is low or false, 1 is center or true, 2 is high
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uint8_t CH11_flag : 2; // 10,11 // ch11 aux switch : 0 is low or false, 1 is center or true, 2 is high
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uint8_t CH12_flag : 2; // 12,13 // ch12 aux switch : 0 is low or false, 1 is center or true, 2 is high
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} aux_con;
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void Copter::read_control_switch()
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{
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uint32_t tnow_ms = millis();
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// calculate position of flight mode switch
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int8_t switch_position;
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if (g.rc_5.get_radio_in() < 1231) switch_position = 0;
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else if (g.rc_5.get_radio_in() < 1361) switch_position = 1;
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else if (g.rc_5.get_radio_in() < 1491) switch_position = 2;
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else if (g.rc_5.get_radio_in() < 1621) switch_position = 3;
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else if (g.rc_5.get_radio_in() < 1750) switch_position = 4;
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else switch_position = 5;
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// store time that switch last moved
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if (control_switch_state.last_switch_position != switch_position) {
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control_switch_state.last_edge_time_ms = tnow_ms;
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}
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// debounce switch
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bool control_switch_changed = control_switch_state.debounced_switch_position != switch_position;
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bool sufficient_time_elapsed = tnow_ms - control_switch_state.last_edge_time_ms > CONTROL_SWITCH_DEBOUNCE_TIME_MS;
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bool failsafe_disengaged = !failsafe.radio && failsafe.radio_counter == 0;
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if (control_switch_changed && sufficient_time_elapsed && failsafe_disengaged) {
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// set flight mode and simple mode setting
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if (set_mode((control_mode_t)flight_modes[switch_position].get(), MODE_REASON_TX_COMMAND)) {
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// play a tone
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if (control_switch_state.debounced_switch_position != -1) {
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// alert user to mode change failure (except if autopilot is just starting up)
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if (ap.initialised) {
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AP_Notify::events.user_mode_change = 1;
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}
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}
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if (!check_if_auxsw_mode_used(AUXSW_SIMPLE_MODE) && !check_if_auxsw_mode_used(AUXSW_SUPERSIMPLE_MODE)) {
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// if none of the Aux Switches are set to Simple or Super Simple Mode then
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// set Simple Mode using stored parameters from EEPROM
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if (BIT_IS_SET(g.super_simple, switch_position)) {
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set_simple_mode(2);
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} else {
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set_simple_mode(BIT_IS_SET(g.simple_modes, switch_position));
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}
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}
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} else if (control_switch_state.last_switch_position != -1) {
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// alert user to mode change failure
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AP_Notify::events.user_mode_change_failed = 1;
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}
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// set the debounced switch position
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control_switch_state.debounced_switch_position = switch_position;
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}
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control_switch_state.last_switch_position = switch_position;
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}
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// check_if_auxsw_mode_used - Check to see if any of the Aux Switches are set to a given mode.
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bool Copter::check_if_auxsw_mode_used(uint8_t auxsw_mode_check)
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{
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bool ret = g.ch7_option == auxsw_mode_check || g.ch8_option == auxsw_mode_check || g.ch9_option == auxsw_mode_check
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|| g.ch10_option == auxsw_mode_check || g.ch11_option == auxsw_mode_check || g.ch12_option == auxsw_mode_check;
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return ret;
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}
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// check_duplicate_auxsw - Check to see if any Aux Switch Functions are duplicated
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bool Copter::check_duplicate_auxsw(void)
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{
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uint8_t auxsw_option_counts[AUXSW_SWITCH_MAX] = {};
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auxsw_option_counts[g.ch7_option]++;
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auxsw_option_counts[g.ch8_option]++;
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auxsw_option_counts[g.ch9_option]++;
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auxsw_option_counts[g.ch10_option]++;
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auxsw_option_counts[g.ch11_option]++;
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auxsw_option_counts[g.ch12_option]++;
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for (uint8_t i=0; i<sizeof(auxsw_option_counts); i++) {
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if (i == AUXSW_DO_NOTHING) {
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continue;
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}
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if (auxsw_option_counts[i] > 1) {
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return true;
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}
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}
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return false;
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}
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void Copter::reset_control_switch()
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{
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control_switch_state.last_switch_position = control_switch_state.debounced_switch_position = -1;
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read_control_switch();
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}
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// read_3pos_switch
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uint8_t Copter::read_3pos_switch(int16_t radio_in)
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{
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if (radio_in < AUX_SWITCH_PWM_TRIGGER_LOW) return AUX_SWITCH_LOW; // switch is in low position
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if (radio_in > AUX_SWITCH_PWM_TRIGGER_HIGH) return AUX_SWITCH_HIGH; // switch is in high position
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return AUX_SWITCH_MIDDLE; // switch is in middle position
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}
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// can't take reference to a bitfield member, thus a #define:
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#define read_aux_switch(rc, flag, option) \
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do { \
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switch_position = read_3pos_switch(rc.get_radio_in()); \
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if (flag != switch_position) { \
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flag = switch_position; \
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do_aux_switch_function(option, flag); \
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} \
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} while (false)
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// read_aux_switches - checks aux switch positions and invokes configured actions
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void Copter::read_aux_switches()
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{
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uint8_t switch_position;
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// exit immediately during radio failsafe
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if (failsafe.radio || failsafe.radio_counter != 0) {
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return;
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}
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read_aux_switch(g.rc_7, aux_con.CH7_flag, g.ch7_option);
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read_aux_switch(g.rc_8, aux_con.CH8_flag, g.ch8_option);
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read_aux_switch(g.rc_9, aux_con.CH9_flag, g.ch9_option);
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read_aux_switch(g.rc_10, aux_con.CH10_flag, g.ch10_option);
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read_aux_switch(g.rc_11, aux_con.CH11_flag, g.ch11_option);
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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read_aux_switch(g.rc_12, aux_con.CH12_flag, g.ch12_option);
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#endif
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}
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#undef read_aux_switch
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// init_aux_switches - invoke configured actions at start-up for aux function where it is safe to do so
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void Copter::init_aux_switches()
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{
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// set the CH7 ~ CH12 flags
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aux_con.CH7_flag = read_3pos_switch(g.rc_7.get_radio_in());
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aux_con.CH8_flag = read_3pos_switch(g.rc_8.get_radio_in());
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aux_con.CH10_flag = read_3pos_switch(g.rc_10.get_radio_in());
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aux_con.CH11_flag = read_3pos_switch(g.rc_11.get_radio_in());
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// ch9, ch12 only supported on some boards
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aux_con.CH9_flag = read_3pos_switch(g.rc_9.get_radio_in());
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aux_con.CH12_flag = read_3pos_switch(g.rc_12.get_radio_in());
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// initialise functions assigned to switches
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init_aux_switch_function(g.ch7_option, aux_con.CH7_flag);
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init_aux_switch_function(g.ch8_option, aux_con.CH8_flag);
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init_aux_switch_function(g.ch10_option, aux_con.CH10_flag);
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init_aux_switch_function(g.ch11_option, aux_con.CH11_flag);
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// ch9, ch12 only supported on some boards
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init_aux_switch_function(g.ch9_option, aux_con.CH9_flag);
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init_aux_switch_function(g.ch12_option, aux_con.CH12_flag);
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}
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// init_aux_switch_function - initialize aux functions
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void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
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{
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// init channel options
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switch(ch_option) {
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case AUXSW_SIMPLE_MODE:
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case AUXSW_RANGEFINDER:
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case AUXSW_FENCE:
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case AUXSW_SUPERSIMPLE_MODE:
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case AUXSW_ACRO_TRAINER:
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case AUXSW_GRIPPER:
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case AUXSW_SPRAYER:
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case AUXSW_PARACHUTE_ENABLE:
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case AUXSW_PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
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case AUXSW_RETRACT_MOUNT:
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case AUXSW_MISSION_RESET:
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case AUXSW_ATTCON_FEEDFWD:
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case AUXSW_ATTCON_ACCEL_LIM:
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case AUXSW_LANDING_GEAR:
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case AUXSW_MOTOR_ESTOP:
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case AUXSW_MOTOR_INTERLOCK:
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case AUXSW_AVOID_ADSB:
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case AUXSW_PRECISION_LOITER:
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do_aux_switch_function(ch_option, ch_flag);
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break;
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}
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}
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// do_aux_switch_function - implement the function invoked by the ch7 or ch8 switch
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void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
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{
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switch(ch_function) {
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case AUXSW_FLIP:
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// flip if switch is on, positive throttle and we're actually flying
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if (ch_flag == AUX_SWITCH_HIGH) {
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set_mode(FLIP, MODE_REASON_TX_COMMAND);
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}
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break;
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case AUXSW_SIMPLE_MODE:
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// low = simple mode off, middle or high position turns simple mode on
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set_simple_mode(ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
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break;
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case AUXSW_SUPERSIMPLE_MODE:
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// low = simple mode off, middle = simple mode, high = super simple mode
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set_simple_mode(ch_flag);
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break;
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case AUXSW_RTL:
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if (ch_flag == AUX_SWITCH_HIGH) {
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// engage RTL (if not possible we remain in current flight mode)
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set_mode(RTL, MODE_REASON_TX_COMMAND);
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} else {
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// return to flight mode switch's flight mode if we are currently in RTL
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if (control_mode == RTL) {
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reset_control_switch();
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}
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}
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break;
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case AUXSW_SAVE_TRIM:
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if ((ch_flag == AUX_SWITCH_HIGH) && (control_mode <= ACRO) && (channel_throttle->get_control_in() == 0)) {
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save_trim();
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}
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break;
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case AUXSW_SAVE_WP:
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// save waypoint when switch is brought high
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if (ch_flag == AUX_SWITCH_HIGH) {
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// do not allow saving new waypoints while we're in auto or disarmed
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if (control_mode == AUTO || !motors.armed()) {
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return;
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}
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// do not allow saving the first waypoint with zero throttle
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if ((mission.num_commands() == 0) && (channel_throttle->get_control_in() == 0)) {
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return;
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}
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// create new mission command
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AP_Mission::Mission_Command cmd = {};
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// if the mission is empty save a takeoff command
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if (mission.num_commands() == 0) {
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// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
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cmd.id = MAV_CMD_NAV_TAKEOFF;
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cmd.content.location.options = 0;
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cmd.p1 = 0;
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cmd.content.location.lat = 0;
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cmd.content.location.lng = 0;
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cmd.content.location.alt = MAX(current_loc.alt,100);
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// use the current altitude for the target alt for takeoff.
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// only altitude will matter to the AP mission script for takeoff.
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if (mission.add_cmd(cmd)) {
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// log event
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Log_Write_Event(DATA_SAVEWP_ADD_WP);
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}
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}
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// set new waypoint to current location
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cmd.content.location = current_loc;
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// if throttle is above zero, create waypoint command
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if (channel_throttle->get_control_in() > 0) {
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cmd.id = MAV_CMD_NAV_WAYPOINT;
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} else {
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// with zero throttle, create LAND command
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cmd.id = MAV_CMD_NAV_LAND;
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}
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// save command
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if (mission.add_cmd(cmd)) {
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// log event
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Log_Write_Event(DATA_SAVEWP_ADD_WP);
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}
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}
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break;
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case AUXSW_CAMERA_TRIGGER:
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#if CAMERA == ENABLED
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if (ch_flag == AUX_SWITCH_HIGH) {
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do_take_picture();
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}
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#endif
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break;
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case AUXSW_RANGEFINDER:
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// enable or disable the rangefinder
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#if RANGEFINDER_ENABLED == ENABLED
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if ((ch_flag == AUX_SWITCH_HIGH) && (rangefinder.num_sensors() >= 1)) {
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rangefinder_state.enabled = true;
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} else {
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rangefinder_state.enabled = false;
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}
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#endif
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break;
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case AUXSW_FENCE:
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#if AC_FENCE == ENABLED
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// enable or disable the fence
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if (ch_flag == AUX_SWITCH_HIGH) {
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fence.enable(true);
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Log_Write_Event(DATA_FENCE_ENABLE);
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} else {
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fence.enable(false);
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Log_Write_Event(DATA_FENCE_DISABLE);
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}
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#endif
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break;
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case AUXSW_ACRO_TRAINER:
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switch(ch_flag) {
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case AUX_SWITCH_LOW:
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g.acro_trainer = ACRO_TRAINER_DISABLED;
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Log_Write_Event(DATA_ACRO_TRAINER_DISABLED);
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break;
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case AUX_SWITCH_MIDDLE:
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g.acro_trainer = ACRO_TRAINER_LEVELING;
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Log_Write_Event(DATA_ACRO_TRAINER_LEVELING);
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break;
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case AUX_SWITCH_HIGH:
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g.acro_trainer = ACRO_TRAINER_LIMITED;
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Log_Write_Event(DATA_ACRO_TRAINER_LIMITED);
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break;
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}
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break;
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case AUXSW_GRIPPER:
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#if GRIPPER_ENABLED == ENABLED
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switch(ch_flag) {
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case AUX_SWITCH_LOW:
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g2.gripper.release();
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Log_Write_Event(DATA_GRIPPER_RELEASE);
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break;
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case AUX_SWITCH_HIGH:
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g2.gripper.grab();
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Log_Write_Event(DATA_GRIPPER_GRAB);
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break;
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}
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#endif
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break;
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case AUXSW_SPRAYER:
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#if SPRAYER == ENABLED
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sprayer.run(ch_flag == AUX_SWITCH_HIGH);
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// if we are disarmed the pilot must want to test the pump
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sprayer.test_pump((ch_flag == AUX_SWITCH_HIGH) && !motors.armed());
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#endif
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break;
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case AUXSW_AUTO:
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if (ch_flag == AUX_SWITCH_HIGH) {
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set_mode(AUTO, MODE_REASON_TX_COMMAND);
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} else {
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// return to flight mode switch's flight mode if we are currently in AUTO
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if (control_mode == AUTO) {
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reset_control_switch();
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}
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}
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break;
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case AUXSW_AUTOTUNE:
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#if AUTOTUNE_ENABLED == ENABLED
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// turn on auto tuner
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switch(ch_flag) {
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case AUX_SWITCH_LOW:
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case AUX_SWITCH_MIDDLE:
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// restore flight mode based on flight mode switch position
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if (control_mode == AUTOTUNE) {
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reset_control_switch();
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}
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break;
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case AUX_SWITCH_HIGH:
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// start an autotuning session
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set_mode(AUTOTUNE, MODE_REASON_TX_COMMAND);
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break;
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}
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#endif
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break;
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case AUXSW_LAND:
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if (ch_flag == AUX_SWITCH_HIGH) {
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set_mode(LAND, MODE_REASON_TX_COMMAND);
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} else {
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// return to flight mode switch's flight mode if we are currently in LAND
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if (control_mode == LAND) {
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reset_control_switch();
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}
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}
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break;
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case AUXSW_PARACHUTE_ENABLE:
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#if PARACHUTE == ENABLED
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// Parachute enable/disable
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parachute.enabled(ch_flag == AUX_SWITCH_HIGH);
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#endif
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break;
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case AUXSW_PARACHUTE_RELEASE:
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#if PARACHUTE == ENABLED
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if (ch_flag == AUX_SWITCH_HIGH) {
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parachute_manual_release();
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}
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#endif
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break;
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case AUXSW_PARACHUTE_3POS:
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#if PARACHUTE == ENABLED
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// Parachute disable, enable, release with 3 position switch
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switch (ch_flag) {
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case AUX_SWITCH_LOW:
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parachute.enabled(false);
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Log_Write_Event(DATA_PARACHUTE_DISABLED);
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break;
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case AUX_SWITCH_MIDDLE:
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parachute.enabled(true);
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Log_Write_Event(DATA_PARACHUTE_ENABLED);
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break;
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case AUX_SWITCH_HIGH:
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parachute.enabled(true);
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parachute_manual_release();
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break;
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}
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#endif
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break;
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case AUXSW_MISSION_RESET:
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if (ch_flag == AUX_SWITCH_HIGH) {
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mission.reset();
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}
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break;
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case AUXSW_ATTCON_FEEDFWD:
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// enable or disable feed forward
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attitude_control.bf_feedforward(ch_flag == AUX_SWITCH_HIGH);
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break;
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case AUXSW_ATTCON_ACCEL_LIM:
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// enable or disable accel limiting by restoring defaults
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attitude_control.accel_limiting(ch_flag == AUX_SWITCH_HIGH);
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break;
|
|
|
|
case AUXSW_RETRACT_MOUNT:
|
|
#if MOUNT == ENABLE
|
|
switch (ch_flag) {
|
|
case AUX_SWITCH_HIGH:
|
|
camera_mount.set_mode(MAV_MOUNT_MODE_RETRACT);
|
|
break;
|
|
case AUX_SWITCH_LOW:
|
|
camera_mount.set_mode_to_default();
|
|
break;
|
|
}
|
|
#endif
|
|
break;
|
|
|
|
case AUXSW_RELAY:
|
|
ServoRelayEvents.do_set_relay(0, ch_flag == AUX_SWITCH_HIGH);
|
|
break;
|
|
|
|
case AUXSW_RELAY2:
|
|
ServoRelayEvents.do_set_relay(1, ch_flag == AUX_SWITCH_HIGH);
|
|
break;
|
|
|
|
case AUXSW_RELAY3:
|
|
ServoRelayEvents.do_set_relay(2, ch_flag == AUX_SWITCH_HIGH);
|
|
break;
|
|
|
|
case AUXSW_RELAY4:
|
|
ServoRelayEvents.do_set_relay(3, ch_flag == AUX_SWITCH_HIGH);
|
|
break;
|
|
|
|
case AUXSW_LANDING_GEAR:
|
|
switch (ch_flag) {
|
|
case AUX_SWITCH_LOW:
|
|
landinggear.set_cmd_mode(LandingGear_Deploy);
|
|
break;
|
|
case AUX_SWITCH_MIDDLE:
|
|
landinggear.set_cmd_mode(LandingGear_Auto);
|
|
break;
|
|
case AUX_SWITCH_HIGH:
|
|
landinggear.set_cmd_mode(LandingGear_Retract);
|
|
break;
|
|
}
|
|
break;
|
|
|
|
case AUXSW_LOST_COPTER_SOUND:
|
|
switch (ch_flag) {
|
|
case AUX_SWITCH_HIGH:
|
|
AP_Notify::flags.vehicle_lost = true;
|
|
break;
|
|
case AUX_SWITCH_LOW:
|
|
AP_Notify::flags.vehicle_lost = false;
|
|
break;
|
|
}
|
|
break;
|
|
|
|
case AUXSW_MOTOR_ESTOP:
|
|
// Turn on Emergency Stop logic when channel is high
|
|
set_motor_emergency_stop(ch_flag == AUX_SWITCH_HIGH);
|
|
break;
|
|
|
|
case AUXSW_MOTOR_INTERLOCK:
|
|
// Turn on when above LOW, because channel will also be used for speed
|
|
// control signal in tradheli
|
|
ap.motor_interlock_switch = (ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
|
|
break;
|
|
|
|
case AUXSW_BRAKE:
|
|
// brake flight mode
|
|
if (ch_flag == AUX_SWITCH_HIGH) {
|
|
set_mode(BRAKE, MODE_REASON_TX_COMMAND);
|
|
} else {
|
|
// return to flight mode switch's flight mode if we are currently in BRAKE
|
|
if (control_mode == BRAKE) {
|
|
reset_control_switch();
|
|
}
|
|
}
|
|
break;
|
|
|
|
case AUXSW_THROW:
|
|
// throw flight mode
|
|
if (ch_flag == AUX_SWITCH_HIGH) {
|
|
set_mode(THROW, MODE_REASON_TX_COMMAND);
|
|
} else {
|
|
// return to flight mode switch's flight mode if we are currently in throw mode
|
|
if (control_mode == THROW) {
|
|
reset_control_switch();
|
|
}
|
|
}
|
|
break;
|
|
|
|
case AUXSW_AVOID_ADSB:
|
|
// enable or disable AP_Avoidance
|
|
if (ch_flag == AUX_SWITCH_HIGH) {
|
|
avoidance_adsb.enable();
|
|
Log_Write_Event(DATA_AVOIDANCE_ADSB_ENABLE);
|
|
} else {
|
|
avoidance_adsb.disable();
|
|
Log_Write_Event(DATA_AVOIDANCE_ADSB_DISABLE);
|
|
}
|
|
break;
|
|
|
|
case AUXSW_PRECISION_LOITER:
|
|
#if PRECISION_LANDING == ENABLED
|
|
switch (ch_flag) {
|
|
case AUX_SWITCH_HIGH:
|
|
set_precision_loiter_enabled(true);
|
|
break;
|
|
case AUX_SWITCH_LOW:
|
|
set_precision_loiter_enabled(false);
|
|
break;
|
|
}
|
|
#endif
|
|
break;
|
|
|
|
}
|
|
}
|
|
|
|
// save_trim - adds roll and pitch trims from the radio to ahrs
|
|
void Copter::save_trim()
|
|
{
|
|
// save roll and pitch trim
|
|
float roll_trim = ToRad((float)channel_roll->get_control_in()/100.0f);
|
|
float pitch_trim = ToRad((float)channel_pitch->get_control_in()/100.0f);
|
|
ahrs.add_trim(roll_trim, pitch_trim);
|
|
Log_Write_Event(DATA_SAVE_TRIM);
|
|
gcs_send_text(MAV_SEVERITY_INFO, "Trim saved");
|
|
}
|
|
|
|
// auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions
|
|
// meant to be called continuously while the pilot attempts to keep the copter level
|
|
void Copter::auto_trim()
|
|
{
|
|
if (auto_trim_counter > 0) {
|
|
auto_trim_counter--;
|
|
|
|
// flash the leds
|
|
AP_Notify::flags.save_trim = true;
|
|
|
|
// calculate roll trim adjustment
|
|
float roll_trim_adjustment = ToRad((float)channel_roll->get_control_in() / 4000.0f);
|
|
|
|
// calculate pitch trim adjustment
|
|
float pitch_trim_adjustment = ToRad((float)channel_pitch->get_control_in() / 4000.0f);
|
|
|
|
// add trim to ahrs object
|
|
// save to eeprom on last iteration
|
|
ahrs.add_trim(roll_trim_adjustment, pitch_trim_adjustment, (auto_trim_counter == 0));
|
|
|
|
// on last iteration restore leds and accel gains to normal
|
|
if (auto_trim_counter == 0) {
|
|
AP_Notify::flags.save_trim = false;
|
|
}
|
|
}
|
|
}
|
|
|