mirror of https://github.com/ArduPilot/ardupilot
245 lines
8.0 KiB
Plaintext
245 lines
8.0 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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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static byte failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling
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static void init_rc_in()
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{
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// set rc reversing
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update_servo_switches();
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// set rc channel ranges
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g.channel_roll.set_angle(SERVO_MAX);
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g.channel_pitch.set_angle(SERVO_MAX);
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g.channel_rudder.set_angle(SERVO_MAX);
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g.channel_throttle.set_range(0, 100);
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// set rc dead zones
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g.channel_roll.set_dead_zone(60);
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g.channel_pitch.set_dead_zone(60);
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g.channel_rudder.set_dead_zone(60);
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g.channel_throttle.set_dead_zone(6);
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//g.channel_roll.dead_zone = 60;
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//g.channel_pitch.dead_zone = 60;
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//g.channel_rudder.dead_zone = 60;
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//g.channel_throttle.dead_zone = 6;
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//set auxiliary ranges
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update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
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}
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static void init_rc_out()
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{
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APM_RC.Init( &isr_registry ); // APM Radio initialization
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APM_RC.enable_out(CH_1);
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APM_RC.enable_out(CH_2);
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APM_RC.enable_out(CH_3);
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APM_RC.enable_out(CH_4);
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APM_RC.enable_out(CH_5);
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APM_RC.enable_out(CH_6);
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APM_RC.enable_out(CH_7);
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APM_RC.enable_out(CH_8);
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#if HIL_MODE != HIL_MODE_ATTITUDE
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APM_RC.OutputCh(CH_1, g.channel_roll.radio_trim); // Initialization of servo outputs
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APM_RC.OutputCh(CH_2, g.channel_pitch.radio_trim);
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APM_RC.OutputCh(CH_3, g.channel_throttle.radio_min);
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APM_RC.OutputCh(CH_4, g.channel_rudder.radio_trim);
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APM_RC.OutputCh(CH_5, g.rc_5.radio_trim);
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APM_RC.OutputCh(CH_6, g.rc_6.radio_trim);
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APM_RC.OutputCh(CH_7, g.rc_7.radio_trim);
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APM_RC.OutputCh(CH_8, g.rc_8.radio_trim);
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#else
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APM_RC.OutputCh(CH_1, 1500); // Initialization of servo outputs
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APM_RC.OutputCh(CH_2, 1500);
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APM_RC.OutputCh(CH_3, 1000);
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APM_RC.OutputCh(CH_4, 1500);
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APM_RC.OutputCh(CH_5, 1500);
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APM_RC.OutputCh(CH_6, 1500);
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APM_RC.OutputCh(CH_7, 1500);
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APM_RC.OutputCh(CH_8, 2000);
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#endif
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}
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static void read_radio()
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{
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static uint16_t aileron1;
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static uint16_t aileron2;
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ch1_temp = APM_RC.InputCh(CH_ROLL);
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ch2_temp = APM_RC.InputCh(CH_PITCH);
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if(g.mix_mode == 0){
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g.channel_roll.set_pwm(ch1_temp);
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g.channel_pitch.set_pwm(ch2_temp);
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}else{
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g.channel_roll.set_pwm(BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int(ch2_temp - elevon2_trim) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int(ch1_temp - elevon1_trim)) / 2 + 1500);
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g.channel_pitch.set_pwm((BOOL_TO_SIGN(g.reverse_ch2_elevon) * int(ch2_temp - elevon2_trim) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int(ch1_temp - elevon1_trim)) / 2 + 1500);
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}
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g.channel_throttle.set_pwm(APM_RC.InputCh(CH_3));
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g.channel_rudder.set_pwm(APM_RC.InputCh(CH_4));
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g.rc_5.set_pwm(APM_RC.InputCh(CH_5));
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g.rc_6.set_pwm(APM_RC.InputCh(CH_6));
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g.rc_7.set_pwm(APM_RC.InputCh(CH_7));
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g.rc_8.set_pwm(APM_RC.InputCh(CH_8));
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// TO DO - go through and patch throttle reverse for RC_Channel library compatibility
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#if THROTTLE_REVERSE == 1
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g.channel_throttle.radio_in = g.channel_throttle.radio_max + g.channel_throttle.radio_min - g.channel_throttle.radio_in;
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#endif
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control_failsafe(g.channel_throttle.radio_in);
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g.channel_throttle.servo_out = g.channel_throttle.control_in;
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if (g.channel_throttle.servo_out > 50) {
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if(g.airspeed_enabled == true) {
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airspeed_nudge = (g.flybywire_airspeed_max * 100 - g.airspeed_cruise) * ((g.channel_throttle.norm_input()-0.5) / 0.5);
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airspeed_nudge = NUDGE_OFFSET + airspeed_nudge;
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} else {
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throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((g.channel_throttle.norm_input()-0.5) / 0.5);
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}
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} else {
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airspeed_nudge = NUDGE_OFFSET;
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throttle_nudge = 0;
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}
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/*
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Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"),
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g.rc_1.control_in,
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g.rc_2.control_in,
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g.rc_3.control_in,
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g.rc_4.control_in);
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*/
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}
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static void control_failsafe(uint16_t pwm)
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{
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if(g.throttle_fs_enabled == 0)
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return;
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// Check for failsafe condition based on loss of GCS control
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if (rc_override_active) {
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if(millis() - rc_override_fs_timer > FAILSAFE_SHORT_TIME) {
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ch3_failsafe = true;
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} else {
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ch3_failsafe = false;
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}
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//Check for failsafe and debounce funky reads
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} else if (g.throttle_fs_enabled) {
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if (pwm < (unsigned)g.throttle_fs_value){
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// we detect a failsafe from radio
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// throttle has dropped below the mark
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failsafeCounter++;
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if (failsafeCounter == 9){
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gcs_send_text_fmt(PSTR("MSG FS ON %u"), (unsigned)pwm);
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}else if(failsafeCounter == 10) {
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ch3_failsafe = true;
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}else if (failsafeCounter > 10){
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failsafeCounter = 11;
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}
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}else if(failsafeCounter > 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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failsafeCounter--;
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if (failsafeCounter > 3){
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failsafeCounter = 3;
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}
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if (failsafeCounter == 1){
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gcs_send_text_fmt(PSTR("MSG FS OFF %u"), (unsigned)pwm);
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}else if(failsafeCounter == 0) {
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ch3_failsafe = false;
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}else if (failsafeCounter <0){
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failsafeCounter = -1;
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}
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}
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}
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}
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static void trim_control_surfaces()
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{
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read_radio();
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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 ((g.channel_roll.radio_in > 1400) && (g.channel_pitch.radio_trim > 1400)) {
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g.channel_roll.radio_trim = g.channel_roll.radio_max + g.channel_roll.radio_min - g.channel_roll.radio_in;
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g.channel_pitch.radio_trim = g.channel_pitch.radio_max + g.channel_pitch.radio_min - g.channel_pitch.radio_in;
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g.channel_rudder.radio_trim = g.channel_rudder.radio_max + g.channel_rudder.radio_min - g.channel_rudder.radio_in;
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G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
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} else {
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g.channel_roll.radio_trim = 1500; // case of HIL test without receiver active
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g.channel_pitch.radio_trim = 1500;
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g.channel_rudder.radio_trim = 1500;
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g.channel_throttle.radio_trim = 1000;
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G_RC_AUX(k_aileron)->radio_trim = 1500;
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}
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}else{
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elevon1_trim = ch1_temp;
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elevon2_trim = ch2_temp;
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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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g.channel_roll.radio_trim = center;
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g.channel_pitch.radio_trim = center;
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}
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// save to eeprom
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g.channel_roll.save_eeprom();
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g.channel_pitch.save_eeprom();
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//g.channel_throttle.save_eeprom();
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g.channel_rudder.save_eeprom();
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G_RC_AUX(k_aileron)->save_eeprom();
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}
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static void trim_radio()
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{
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for (int y = 0; y < 30; y++) {
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read_radio();
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}
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// Store the trim values
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// ---------------------
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if(g.mix_mode == 0){
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if ((g.channel_roll.radio_in > 1400) && (g.channel_pitch.radio_trim > 1400)) {
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g.channel_roll.radio_trim = g.channel_roll.radio_in;
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g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
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//g.channel_throttle.radio_trim = g.channel_throttle.radio_in;
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g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
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G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
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} else {
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g.channel_roll.radio_trim = 1500; // case of HIL test without receiver active
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g.channel_pitch.radio_trim = 1500;
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g.channel_rudder.radio_trim = 1500;
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g.channel_throttle.radio_trim = 1000;
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G_RC_AUX(k_aileron)->radio_trim = 1500;
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}
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} else {
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elevon1_trim = ch1_temp;
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elevon2_trim = ch2_temp;
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uint16_t center = 1500;
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g.channel_roll.radio_trim = center;
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g.channel_pitch.radio_trim = center;
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g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
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}
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// save to eeprom
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g.channel_roll.save_eeprom();
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g.channel_pitch.save_eeprom();
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//g.channel_throttle.save_eeprom();
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g.channel_rudder.save_eeprom();
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G_RC_AUX(k_aileron)->save_eeprom();
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}
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