mirror of https://github.com/ArduPilot/ardupilot
361 lines
12 KiB
C++
361 lines
12 KiB
C++
#include "Plane.h"
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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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/*
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allow for runtime change of control channel ordering
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*/
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void Plane::set_control_channels(void)
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{
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if (g.rudder_only) {
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// in rudder only mode the roll and rudder channels are the
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// same.
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channel_roll = RC_Channels::rc_channel(rcmap.yaw()-1);
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} else {
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channel_roll = RC_Channels::rc_channel(rcmap.roll()-1);
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}
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channel_pitch = RC_Channels::rc_channel(rcmap.pitch()-1);
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channel_throttle = RC_Channels::rc_channel(rcmap.throttle()-1);
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channel_rudder = RC_Channels::rc_channel(rcmap.yaw()-1);
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// set rc channel ranges
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channel_roll->set_angle(SERVO_MAX);
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channel_pitch->set_angle(SERVO_MAX);
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channel_rudder->set_angle(SERVO_MAX);
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if (aparm.throttle_min >= 0) {
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// normal operation
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channel_throttle->set_range(100);
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} else {
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// reverse thrust
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channel_throttle->set_angle(100);
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SRV_Channels::set_angle(SRV_Channel::k_throttle, 100);
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SRV_Channels::set_angle(SRV_Channel::k_throttleLeft, 100);
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SRV_Channels::set_angle(SRV_Channel::k_throttleRight, 100);
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}
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if (!arming.is_armed() && arming.arming_required() == AP_Arming::YES_MIN_PWM) {
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SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, aparm.throttle_min<0?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
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}
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// setup correct scaling for ESCs like the UAVCAN PX4ESC which
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// take a proportion of speed
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g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
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}
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/*
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initialise RC input channels
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*/
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void Plane::init_rc_in()
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{
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// set rc dead zones
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channel_roll->set_default_dead_zone(30);
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channel_pitch->set_default_dead_zone(30);
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channel_rudder->set_default_dead_zone(30);
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channel_throttle->set_default_dead_zone(30);
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}
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/*
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initialise RC output for main channels. This is done early to allow
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for BRD_SAFETYENABLE=0 and early servo control
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*/
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void Plane::init_rc_out_main()
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{
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/*
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change throttle trim to minimum throttle. This prevents a
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configuration error where the user sets CH3_TRIM incorrectly and
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the motor may start on power up
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*/
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if (aparm.throttle_min >= 0) {
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SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttle);
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}
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_aileron, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
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SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
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// setup PX4 to output the min throttle when safety off if arming
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// is setup for min on disarm
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if (arming.arming_required() == AP_Arming::YES_MIN_PWM) {
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SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, aparm.throttle_min<0?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
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}
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}
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/*
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initialise RC output channels for aux channels
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*/
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void Plane::init_rc_out_aux()
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{
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update_aux();
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SRV_Channels::enable_aux_servos();
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SRV_Channels::cork();
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// Initialization of servo outputs
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SRV_Channels::output_trim_all();
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servos_output();
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// setup PWM values to send if the FMU firmware dies
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SRV_Channels::setup_failsafe_trim_all();
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}
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/*
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check for pilot input on rudder stick for arming/disarming
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*/
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void Plane::rudder_arm_disarm_check()
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{
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AP_Arming_Plane::ArmingRudder arming_rudder = arming.rudder_arming();
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if (arming_rudder == AP_Arming_Plane::ARMING_RUDDER_DISABLED) {
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//parameter disallows rudder arming/disabling
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return;
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}
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// if throttle is not down, then pilot cannot rudder arm/disarm
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if (channel_throttle->get_control_in() != 0){
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rudder_arm_timer = 0;
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return;
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}
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// if not in a manual throttle mode and not in CRUISE or FBWB
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// modes then disallow rudder arming/disarming
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if (auto_throttle_mode &&
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(control_mode != CRUISE && control_mode != FLY_BY_WIRE_B)) {
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rudder_arm_timer = 0;
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return;
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}
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if (!arming.is_armed()) {
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// when not armed, full right rudder starts arming counter
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if (channel_rudder->get_control_in() > 4000) {
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uint32_t now = millis();
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if (rudder_arm_timer == 0 ||
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now - rudder_arm_timer < 3000) {
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if (rudder_arm_timer == 0) {
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rudder_arm_timer = now;
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}
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} else {
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//time to arm!
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arm_motors(AP_Arming::RUDDER);
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rudder_arm_timer = 0;
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}
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} else {
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// not at full right rudder
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rudder_arm_timer = 0;
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}
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} else if (arming_rudder == AP_Arming_Plane::ARMING_RUDDER_ARMDISARM && !is_flying()) {
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// when armed and not flying, full left rudder starts disarming counter
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if (channel_rudder->get_control_in() < -4000) {
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uint32_t now = millis();
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if (rudder_arm_timer == 0 ||
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now - rudder_arm_timer < 3000) {
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if (rudder_arm_timer == 0) {
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rudder_arm_timer = now;
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}
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} else {
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//time to disarm!
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disarm_motors();
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rudder_arm_timer = 0;
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}
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} else {
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// not at full left rudder
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rudder_arm_timer = 0;
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}
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}
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}
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void Plane::read_radio()
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{
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if (!RC_Channels::has_new_input()) {
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control_failsafe();
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return;
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}
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if(!failsafe.rc_failsafe)
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{
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failsafe.AFS_last_valid_rc_ms = millis();
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}
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failsafe.last_valid_rc_ms = millis();
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RC_Channels::set_pwm_all();
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if (control_mode == TRAINING) {
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// in training mode we don't want to use a deadzone, as we
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// want manual pass through when not exceeding attitude limits
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channel_roll->recompute_pwm_no_deadzone();
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channel_pitch->recompute_pwm_no_deadzone();
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channel_throttle->recompute_pwm_no_deadzone();
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channel_rudder->recompute_pwm_no_deadzone();
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}
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control_failsafe();
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in());
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if (g.throttle_nudge && SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) > 50 && geofence_stickmixing()) {
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float nudge = (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) - 50) * 0.02f;
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if (ahrs.airspeed_sensor_enabled()) {
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airspeed_nudge_cm = (aparm.airspeed_max * 100 - aparm.airspeed_cruise_cm) * nudge;
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} else {
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throttle_nudge = (aparm.throttle_max - aparm.throttle_cruise) * nudge;
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}
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} else {
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airspeed_nudge_cm = 0;
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throttle_nudge = 0;
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}
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rudder_arm_disarm_check();
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if (g.rudder_only != 0) {
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// in rudder only mode we discard rudder input and get target
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// attitude from the roll channel.
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rudder_input = 0;
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} else if (stick_mixing_enabled()) {
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rudder_input = channel_rudder->get_control_in();
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} else {
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// no stick mixing
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rudder_input = 0;
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}
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// potentially swap inputs for tailsitters
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quadplane.tailsitter_check_input();
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// check for transmitter tuning changes
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tuning.check_input(control_mode);
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}
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void Plane::control_failsafe()
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{
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if (millis() - failsafe.last_valid_rc_ms > 1000 || rc_failsafe_active()) {
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// we do not have valid RC input. Set all primary channel
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// control inputs to the trim value and throttle to min
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channel_roll->set_radio_in(channel_roll->get_radio_trim());
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channel_pitch->set_radio_in(channel_pitch->get_radio_trim());
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channel_rudder->set_radio_in(channel_rudder->get_radio_trim());
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// note that we don't set channel_throttle->radio_in to radio_trim,
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// as that would cause throttle failsafe to not activate
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channel_roll->set_control_in(0);
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channel_pitch->set_control_in(0);
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channel_rudder->set_control_in(0);
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channel_throttle->set_control_in(0);
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}
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if(g.throttle_fs_enabled == 0)
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return;
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if (g.throttle_fs_enabled) {
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if (rc_failsafe_active()) {
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// we detect a failsafe from radio
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// throttle has dropped below the mark
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failsafe.throttle_counter++;
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if (failsafe.throttle_counter == 10) {
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gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe on");
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failsafe.rc_failsafe = true;
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AP_Notify::flags.failsafe_radio = true;
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}
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if (failsafe.throttle_counter > 10) {
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failsafe.throttle_counter = 10;
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}
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}else if(failsafe.throttle_counter > 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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failsafe.throttle_counter--;
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if (failsafe.throttle_counter > 3) {
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failsafe.throttle_counter = 3;
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}
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if (failsafe.throttle_counter == 1) {
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gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe off");
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} else if(failsafe.throttle_counter == 0) {
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failsafe.rc_failsafe = false;
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AP_Notify::flags.failsafe_radio = false;
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}
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}
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}
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}
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void Plane::trim_control_surfaces()
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{
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read_radio();
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int16_t trim_roll_range = (channel_roll->get_radio_max() - channel_roll->get_radio_min())/5;
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int16_t trim_pitch_range = (channel_pitch->get_radio_max() - channel_pitch->get_radio_min())/5;
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if (channel_roll->get_radio_in() < channel_roll->get_radio_min()+trim_roll_range ||
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channel_roll->get_radio_in() > channel_roll->get_radio_max()-trim_roll_range ||
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channel_pitch->get_radio_in() < channel_pitch->get_radio_min()+trim_pitch_range ||
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channel_pitch->get_radio_in() > channel_pitch->get_radio_max()-trim_pitch_range) {
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// don't trim for extreme values - if we attempt to trim so
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// there is less than 20 percent range left then assume the
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// sticks are not properly centered. This also prevents
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// problems with starting APM with the TX off
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return;
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}
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// trim main surfaces
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_aileron);
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_elevator);
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_rudder);
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// trim elevons
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_elevon_left);
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_elevon_right);
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// trim vtail
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_vtail_left);
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_vtail_right);
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if (SRV_Channels::get_output_scaled(SRV_Channel::k_rudder) == 0) {
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// trim differential spoilers if no rudder input
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_dspoilerLeft1);
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_dspoilerLeft2);
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_dspoilerRight1);
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_dspoilerRight2);
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}
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if (SRV_Channels::get_output_scaled(SRV_Channel::k_flap_auto) == 0 &&
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SRV_Channels::get_output_scaled(SRV_Channel::k_flap) == 0) {
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// trim flaperons if no flap input
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_flaperon_left);
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_flaperon_right);
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}
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// now save input trims, as these have been moved to the outputs
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channel_roll->set_and_save_trim();
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channel_pitch->set_and_save_trim();
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channel_rudder->set_and_save_trim();
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}
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void Plane::trim_radio()
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{
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for (uint8_t y = 0; y < 30; y++) {
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read_radio();
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}
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trim_control_surfaces();
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}
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/*
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return true if throttle level is below throttle failsafe threshold
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or RC input is invalid
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*/
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bool Plane::rc_failsafe_active(void)
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{
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if (!g.throttle_fs_enabled) {
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return false;
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}
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if (millis() - failsafe.last_valid_rc_ms > 1000) {
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// we haven't had a valid RC frame for 1 seconds
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return true;
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}
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if (channel_throttle->get_reverse()) {
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return channel_throttle->get_radio_in() >= g.throttle_fs_value;
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}
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return channel_throttle->get_radio_in() <= g.throttle_fs_value;
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}
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