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ardupilot/libraries/RC_Channel/RC_Channel.h

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/// @file RC_Channel.h
/// @brief RC_Channel manager, with EEPROM-backed storage of constants.
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#define NUM_RC_CHANNELS 16
/// @class RC_Channel
/// @brief Object managing one RC channel
class RC_Channel {
public:
friend class SRV_Channels;
friend class RC_Channels;
// Constructor
RC_Channel(void);
enum ChannelType {
RC_CHANNEL_TYPE_ANGLE = 0,
RC_CHANNEL_TYPE_RANGE = 1,
};
// setup the control preferences
void set_range(uint16_t high);
uint16_t get_range() const { return high_in; }
void set_angle(uint16_t angle);
bool get_reverse(void) const;
void set_default_dead_zone(int16_t dzone);
uint16_t get_dead_zone(void) const { return dead_zone; }
// get the center stick position expressed as a control_in value
int16_t get_control_mid() const;
// read input from hal.rcin - create a control_in value
bool update(void);
// calculate an angle given dead_zone and trim. This is used by the quadplane code
// for hover throttle
int16_t pwm_to_angle_dz_trim(uint16_t dead_zone, uint16_t trim) const;
// return a normalised input for a channel, in range -1 to 1,
// centered around the channel trim. Ignore deadzone.
float norm_input() const;
// return a normalised input for a channel, in range -1 to 1,
// centered around the channel trim. Take into account the deadzone
float norm_input_dz() const;
// return a normalised input for a channel, in range -1 to 1,
// ignores trim and deadzone
float norm_input_ignore_trim() const;
uint8_t percent_input() const;
int16_t pwm_to_range() const;
int16_t pwm_to_range_dz(uint16_t dead_zone) const;
static const struct AP_Param::GroupInfo var_info[];
// return true if input is within deadzone of trim
bool in_trim_dz() const;
int16_t get_radio_in() const { return radio_in;}
void set_radio_in(int16_t val) {radio_in = val;}
int16_t get_control_in() const { return control_in;}
void set_control_in(int16_t val) { control_in = val;}
void clear_override();
void set_override(const uint16_t v, const uint32_t timestamp_ms);
bool has_override() const;
int16_t stick_mixing(const int16_t servo_in);
// get control input with zero deadzone
int16_t get_control_in_zero_dz(void) const;
int16_t get_radio_min() const {return radio_min.get();}
void set_radio_min(int16_t val) { radio_min = val;}
int16_t get_radio_max() const {return radio_max.get();}
void set_radio_max(int16_t val) {radio_max = val;}
int16_t get_radio_trim() const { return radio_trim.get();}
void set_radio_trim(int16_t val) { radio_trim.set(val);}
void save_radio_trim() { radio_trim.save();}
void set_and_save_trim() { radio_trim.set_and_save_ifchanged(radio_in);}
// set and save trim if changed
void set_and_save_radio_trim(int16_t val) { radio_trim.set_and_save_ifchanged(val);}
// check if any of the trim/min/max param are configured in storage, this would indicate that the user has done a calibration at somepoint
bool configured_in_storage() { return radio_min.configured_in_storage() || radio_max.configured_in_storage() || radio_trim.configured_in_storage(); }
ChannelType get_type(void) const { return type_in; }
AP_Int16 option; // e.g. activate EPM gripper / enable fence
// auxiliary switch support
void init_aux();
bool read_aux();
// Aux Switch enumeration
enum class AUX_FUNC {
DO_NOTHING = 0, // aux switch disabled
FLIP = 2, // flip
SIMPLE_MODE = 3, // change to simple mode
RTL = 4, // change to RTL flight mode
SAVE_TRIM = 5, // save current position as level
SAVE_WP = 7, // save mission waypoint or RTL if in auto mode
CAMERA_TRIGGER = 9, // trigger camera servo or relay
RANGEFINDER = 10, // allow enabling or disabling rangefinder in flight which helps avoid surface tracking when you are far above the ground
FENCE = 11, // allow enabling or disabling fence in flight
RESETTOARMEDYAW = 12, // UNUSED
SUPERSIMPLE_MODE = 13, // change to simple mode in middle, super simple at top
ACRO_TRAINER = 14, // low = disabled, middle = leveled, high = leveled and limited
SPRAYER = 15, // enable/disable the crop sprayer
AUTO = 16, // change to auto flight mode
AUTOTUNE = 17, // auto tune
LAND = 18, // change to LAND flight mode
GRIPPER = 19, // Operate cargo grippers low=off, middle=neutral, high=on
PARACHUTE_ENABLE = 21, // Parachute enable/disable
PARACHUTE_RELEASE = 22, // Parachute release
PARACHUTE_3POS = 23, // Parachute disable, enable, release with 3 position switch
MISSION_RESET = 24, // Reset auto mission to start from first command
ATTCON_FEEDFWD = 25, // enable/disable the roll and pitch rate feed forward
ATTCON_ACCEL_LIM = 26, // enable/disable the roll, pitch and yaw accel limiting
RETRACT_MOUNT = 27, // Retract Mount
RELAY = 28, // Relay pin on/off (only supports first relay)
LANDING_GEAR = 29, // Landing gear controller
LOST_VEHICLE_SOUND = 30, // Play lost vehicle sound
MOTOR_ESTOP = 31, // Emergency Stop Switch
MOTOR_INTERLOCK = 32, // Motor On/Off switch
BRAKE = 33, // Brake flight mode
RELAY2 = 34, // Relay2 pin on/off
RELAY3 = 35, // Relay3 pin on/off
RELAY4 = 36, // Relay4 pin on/off
THROW = 37, // change to THROW flight mode
AVOID_ADSB = 38, // enable AP_Avoidance library
PRECISION_LOITER = 39, // enable precision loiter
AVOID_PROXIMITY = 40, // enable object avoidance using proximity sensors (ie. horizontal lidar)
ARMDISARM_UNUSED = 41, // UNUSED
SMART_RTL = 42, // change to SmartRTL flight mode
INVERTED = 43, // enable inverted flight
WINCH_ENABLE = 44, // winch enable/disable
WINCH_CONTROL = 45, // winch control
RC_OVERRIDE_ENABLE = 46, // enable RC Override
USER_FUNC1 = 47, // user function #1
USER_FUNC2 = 48, // user function #2
USER_FUNC3 = 49, // user function #3
LEARN_CRUISE = 50, // learn cruise throttle (Rover)
MANUAL = 51, // manual mode
ACRO = 52, // acro mode
STEERING = 53, // steering mode
HOLD = 54, // hold mode
GUIDED = 55, // guided mode
LOITER = 56, // loiter mode
FOLLOW = 57, // follow mode
CLEAR_WP = 58, // clear waypoints
SIMPLE = 59, // simple mode
ZIGZAG = 60, // zigzag mode
ZIGZAG_SaveWP = 61, // zigzag save waypoint
COMPASS_LEARN = 62, // learn compass offsets
SAILBOAT_TACK = 63, // rover sailboat tack
REVERSE_THROTTLE = 64, // reverse throttle input
GPS_DISABLE = 65, // disable GPS for testing
RELAY5 = 66, // Relay5 pin on/off
RELAY6 = 67, // Relay6 pin on/off
STABILIZE = 68, // stabilize mode
POSHOLD = 69, // poshold mode
ALTHOLD = 70, // althold mode
FLOWHOLD = 71, // flowhold mode
CIRCLE = 72, // circle mode
DRIFT = 73, // drift mode
SAILBOAT_MOTOR_3POS = 74, // Sailboat motoring 3pos
SURFACE_TRACKING = 75, // Surface tracking upwards or downwards
STANDBY = 76, // Standby mode
TAKEOFF = 77, // takeoff
RUNCAM_CONTROL = 78, // control RunCam device
RUNCAM_OSD_CONTROL = 79, // control RunCam OSD
VISODOM_ALIGN = 80, // align visual odometry camera's attitude to AHRS
DISARM = 81, // disarm vehicle
Q_ASSIST = 82, // disable, enable and force Q assist
ZIGZAG_Auto = 83, // zigzag auto switch
AIRMODE = 84, // enable / disable airmode for copter
GENERATOR = 85, // generator control
TER_DISABLE = 86, // disable terrain following in CRUISE/FBWB modes
CROW_SELECT = 87, // select CROW mode for diff spoilers;high disables,mid forces progressive
SOARING = 88, // three-position switch to set soaring mode
LANDING_FLARE = 89, // force flare, throttle forced idle, pitch to LAND_PITCH_CD, tilts up
EKF_POS_SOURCE = 90, // change EKF position source between primary, secondary and tertiary sources
ARSPD_CALIBRATE= 91, // calibrate airspeed ratio
FBWA = 92, // Fly-By-Wire-A
RELOCATE_MISSION = 93, // used in separate branch MISSION_RELATIVE
VTX_POWER = 94, // VTX power level
FBWA_TAILDRAGGER = 95, // enables FBWA taildragger takeoff mode. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA.
MODE_SWITCH_RESET = 96, // trigger re-reading of mode switch
WIND_VANE_DIR_OFSSET= 97, // flag for windvane direction offset input, used with windvane type 2
TRAINING = 98, // mode training
AUTO_RTL = 99, // AUTO RTL via DO_LAND_START
// entries from 100-150 are expected to be developer
// options used for testing
KILL_IMU1 = 100, // disable first IMU (for IMU failure testing)
KILL_IMU2 = 101, // disable second IMU (for IMU failure testing)
CAM_MODE_TOGGLE = 102, // Momentary switch to cycle camera modes
EKF_LANE_SWITCH = 103, // trigger lane switch attempt
EKF_YAW_RESET = 104, // trigger yaw reset attempt
GPS_DISABLE_YAW = 105, // disable GPS yaw for testing
DISABLE_AIRSPEED_USE = 106, // equivalent to AIRSPEED_USE 0
// if you add something here, make sure to update the documentation of the parameter in RC_Channel.cpp!
// also, if you add an option >255, you will need to fix duplicate_options_exist
// options 150-199 continue user rc switch options
CRUISE = 150, ///CRUISE mode
TURTLE = 151, // Turtle mode - flip over after crash
SIMPLE_HEADING_RESET = 152, // reset simple mode refernce heading to current
ARMDISARM = 153, // arm or disarm vehicle
ARMDISARM_AIRMODE = 154, // arm or disarm vehicle enabling airmode
TRIM_TO_CURRENT_SERVO_RC = 155, // trim to current servo and RC
// inputs from 200 will eventually used to replace RCMAP
ROLL = 201, // roll input
PITCH = 202, // pitch input
THROTTLE = 203, // throttle pilot input
YAW = 204, // yaw pilot input
MAINSAIL = 207, // mainsail input
FLAP = 208, // flap input
FWD_THR = 209, // VTOL manual forward throttle
AIRBRAKE = 210, // manual airbrake control
WALKING_HEIGHT = 211, // walking robot height input
// inputs for the use of onboard lua scripting
SCRIPTING_1 = 300,
SCRIPTING_2 = 301,
SCRIPTING_3 = 302,
SCRIPTING_4 = 303,
SCRIPTING_5 = 304,
SCRIPTING_6 = 305,
SCRIPTING_7 = 306,
SCRIPTING_8 = 307,
};
typedef enum AUX_FUNC aux_func_t;
// auxillary switch handling (n.b.: we store this as 2-bits!):
enum class AuxSwitchPos : uint8_t {
LOW, // indicates auxiliary switch is in the low position (pwm <1200)
MIDDLE, // indicates auxiliary switch is in the middle position (pwm >1200, <1800)
HIGH // indicates auxiliary switch is in the high position (pwm >1800)
};
enum class AuxFuncTriggerSource : uint8_t {
INIT,
RC,
BUTTON,
MAVLINK,
MISSION,
SCRIPTING,
};
bool read_3pos_switch(AuxSwitchPos &ret) const WARN_IF_UNUSED;
bool read_6pos_switch(int8_t& position) WARN_IF_UNUSED;
AuxSwitchPos get_aux_switch_pos() const;
// wrapper function around do_aux_function which allows us to log
bool run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source);
#if !HAL_MINIMIZE_FEATURES
const char *string_for_aux_function(AUX_FUNC function) const;
#endif
// pwm value under which we consider that Radio value is invalid
static const uint16_t RC_MIN_LIMIT_PWM = 900;
// pwm value above which we consider that Radio value is invalid
static const uint16_t RC_MAX_LIMIT_PWM = 2200;
// pwm value above which we condider that Radio min value is invalid
static const uint16_t RC_CALIB_MIN_LIMIT_PWM = 1300;
// pwm value under which we condider that Radio max value is invalid
static const uint16_t RC_CALIB_MAX_LIMIT_PWM = 1700;
// pwm value above which the switch/button will be invoked:
static const uint16_t AUX_SWITCH_PWM_TRIGGER_HIGH = 1800;
// pwm value below which the switch/button will be disabled:
static const uint16_t AUX_SWITCH_PWM_TRIGGER_LOW = 1200;
// pwm value above which the option will be invoked:
static const uint16_t AUX_PWM_TRIGGER_HIGH = 1700;
// pwm value below which the option will be disabled:
static const uint16_t AUX_PWM_TRIGGER_LOW = 1300;
protected:
virtual void init_aux_function(aux_func_t ch_option, AuxSwitchPos);
// virtual function to be overridden my subclasses
virtual bool do_aux_function(aux_func_t ch_option, AuxSwitchPos);
void do_aux_function_armdisarm(const AuxSwitchPos ch_flag);
void do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag);
void do_aux_function_avoid_proximity(const AuxSwitchPos ch_flag);
void do_aux_function_camera_trigger(const AuxSwitchPos ch_flag);
void do_aux_function_runcam_control(const AuxSwitchPos ch_flag);
void do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag);
void do_aux_function_fence(const AuxSwitchPos ch_flag);
void do_aux_function_clear_wp(const AuxSwitchPos ch_flag);
void do_aux_function_gripper(const AuxSwitchPos ch_flag);
void do_aux_function_lost_vehicle_sound(const AuxSwitchPos ch_flag);
void do_aux_function_mission_reset(const AuxSwitchPos ch_flag);
void do_aux_function_rc_override_enable(const AuxSwitchPos ch_flag);
void do_aux_function_relay(uint8_t relay, bool val);
void do_aux_function_sprayer(const AuxSwitchPos ch_flag);
void do_aux_function_generator(const AuxSwitchPos ch_flag);
typedef int8_t modeswitch_pos_t;
virtual void mode_switch_changed(modeswitch_pos_t new_pos) {
// no action by default (e.g. Tracker, Sub, who do their own thing)
};
private:
// pwm is stored here
int16_t radio_in;
// value generated from PWM normalised to configured scale
int16_t control_in;
AP_Int16 radio_min;
AP_Int16 radio_trim;
AP_Int16 radio_max;
AP_Int8 reversed;
AP_Int16 dead_zone;
ChannelType type_in;
int16_t high_in;
// the input channel this corresponds to
uint8_t ch_in;
// overrides
uint16_t override_value;
uint32_t last_override_time;
int16_t pwm_to_angle() const;
int16_t pwm_to_angle_dz(uint16_t dead_zone) const;
// Structure used to detect and debounce switch changes
struct {
int8_t debounce_position = -1;
int8_t current_position = -1;
uint32_t last_edge_time_ms;
} switch_state;
void reset_mode_switch();
void read_mode_switch();
bool debounce_completed(int8_t position);
#if !HAL_MINIMIZE_FEATURES
// Structure to lookup switch change announcements
struct LookupTable{
AUX_FUNC option;
const char *announcement;
};
static const LookupTable lookuptable[];
#endif
};
/*
class RC_Channels. Hold the full set of RC_Channel objects
*/
class RC_Channels {
public:
friend class SRV_Channels;
friend class RC_Channel;
// constructor
RC_Channels(void);
void init(void);
// get singleton instance
static RC_Channels *get_singleton() {
return _singleton;
}
static const struct AP_Param::GroupInfo var_info[];
// compatability functions for Plane:
static uint16_t get_radio_in(const uint8_t chan) {
RC_Channel *c = _singleton->channel(chan);
if (c == nullptr) {
return 0;
}
return c->get_radio_in();
}
static RC_Channel *rc_channel(const uint8_t chan) {
return _singleton->channel(chan);
}
//end compatability functions for Plane
// this function is implemented in the child class in the vehicle
// code
virtual RC_Channel *channel(uint8_t chan) = 0;
// helper used by scripting to convert the above function from 0 to 1 indexeing
// range is checked correctly by the underlying channel function
RC_Channel *lua_rc_channel(const uint8_t chan) {
return channel(chan -1);
}
uint8_t get_radio_in(uint16_t *chans, const uint8_t num_channels); // reads a block of chanel radio_in values starting from channel 0
// returns the number of valid channels
static uint8_t get_valid_channel_count(void); // returns the number of valid channels in the last read
static int16_t get_receiver_rssi(void); // returns [0, 255] for receiver RSSI (0 is no link) if present, otherwise -1
static int16_t get_receiver_link_quality(void); // returns 0-100 % of last 100 packets received at receiver are valid
bool read_input(void); // returns true if new input has been read in
static void clear_overrides(void); // clears any active overrides
static bool receiver_bind(const int dsmMode); // puts the receiver in bind mode if present, returns true if success
static void set_override(const uint8_t chan, const int16_t value, const uint32_t timestamp_ms = 0); // set a channels override value
static bool has_active_overrides(void); // returns true if there are overrides applied that are valid
// returns a mask indicating which channels have overrides. Bit 0
// is RC channel 1. Beware this is not a cheap call.
static uint16_t get_override_mask();
class RC_Channel *find_channel_for_option(const RC_Channel::aux_func_t option);
bool duplicate_options_exist();
RC_Channel::AuxSwitchPos get_channel_pos(const uint8_t rcmapchan) const;
void convert_options(const RC_Channel::aux_func_t old_option, const RC_Channel::aux_func_t new_option);
void init_aux_all();
void read_aux_all();
// mode switch handling
void reset_mode_switch();
virtual void read_mode_switch();
// has_valid_input should be pure-virtual when Plane is converted
virtual bool has_valid_input() const { return false; };
virtual RC_Channel *get_arming_channel(void) const { return nullptr; };
bool gcs_overrides_enabled() const { return _gcs_overrides_enabled; }
void set_gcs_overrides_enabled(bool enable) {
_gcs_overrides_enabled = enable;
if (!_gcs_overrides_enabled) {
clear_overrides();
}
}
// should we ignore RC failsafe bits from receivers?
bool ignore_rc_failsafe(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::IGNORE_FAILSAFE));
}
// should we add a pad byte to Fport data
bool fport_pad(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::FPORT_PAD));
}
// returns true if we should pass through data for crsf telemetry
bool crsf_custom_telemetry(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::CRSF_CUSTOM_TELEMETRY));
}
// should a channel reverse option affect aux switches
bool switch_reverse_allowed(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::ALLOW_SWITCH_REV));
}
bool ignore_overrides() const {
return _options & uint32_t(Option::IGNORE_OVERRIDES);
}
bool ignore_receiver() const {
return _options & uint32_t(Option::IGNORE_RECEIVER);
}
bool log_raw_data() const {
return _options & uint32_t(Option::LOG_DATA);
}
virtual bool arming_check_throttle() const {
return _options & uint32_t(Option::ARMING_CHECK_THROTTLE);
}
bool arming_skip_checks_rpy() const {
return _options & uint32_t(Option::ARMING_SKIP_CHECK_RPY);
}
bool suppress_crsf_message(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::SUPPRESS_CRSF_MESSAGE));
}
// returns true if overrides should time out. If true is returned
// then returned_timeout_ms will contain the timeout in
// milliseconds, with 0 meaning overrides are disabled.
bool get_override_timeout_ms(uint32_t &returned_timeout_ms) const {
const float value = _override_timeout.get();
if (is_positive(value)) {
returned_timeout_ms = uint32_t(value * 1e3f);
return true;
}
if (is_zero(value)) {
returned_timeout_ms = 0;
return true;
}
// overrides will not time out
return false;
}
// get mask of enabled protocols
uint32_t enabled_protocols() const;
// returns true if we have had a direct detach RC reciever, does not include overrides
bool has_had_rc_receiver() const { return _has_had_rc_receiver; }
/*
get the RC input PWM value given a channel number. Note that
channel numbers start at 1, as this API is designed for use in
LUA
*/
bool get_pwm(uint8_t channel, uint16_t &pwm) const;
uint32_t last_input_ms() const { return last_update_ms; };
// method for other parts of the system (e.g. Button and mavlink)
// to trigger auxillary functions
bool run_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos, RC_Channel::AuxFuncTriggerSource source) {
return rc_channel(0)->run_aux_function(ch_option, pos, source);
}
// check if flight mode channel is assigned RC option
// return true if assigned
bool flight_mode_channel_conflicts_with_rc_option() const;
// flight_mode_channel_number must be overridden in vehicle specific code
virtual int8_t flight_mode_channel_number() const = 0;
protected:
enum class Option {
IGNORE_RECEIVER = (1U << 0), // RC receiver modules
IGNORE_OVERRIDES = (1U << 1), // MAVLink overrides
IGNORE_FAILSAFE = (1U << 2), // ignore RC failsafe bits
FPORT_PAD = (1U << 3), // pad fport telem output
LOG_DATA = (1U << 4), // log rc input bytes
ARMING_CHECK_THROTTLE = (1U << 5), // run an arming check for neutral throttle
ARMING_SKIP_CHECK_RPY = (1U << 6), // skip the an arming checks for the roll/pitch/yaw channels
ALLOW_SWITCH_REV = (1U << 7), // honor the reversed flag on switches
CRSF_CUSTOM_TELEMETRY = (1U << 8), // use passthrough data for crsf telemetry
SUPPRESS_CRSF_MESSAGE = (1U << 9), // suppress CRSF mode/rate message for ELRS systems
};
void new_override_received() {
has_new_overrides = true;
}
private:
static RC_Channels *_singleton;
// this static arrangement is to avoid static pointers in AP_Param tables
static RC_Channel *channels;
uint32_t last_update_ms;
bool has_new_overrides;
bool _has_had_rc_receiver; // true if we have had a direct detach RC reciever, does not include overrides
AP_Float _override_timeout;
AP_Int32 _options;
AP_Int32 _protocols;
RC_Channel *flight_mode_channel() const;
// Allow override by default at start
bool _gcs_overrides_enabled = true;
};
RC_Channels &rc();
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