aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Blimp: move RC bits in mavlink to common code

Browse Source 
Plane's semantics change to be like Copter. Rover, Sub and Tracker will start reporting the bits
This commit is contained in:
Peter Barker 2024-02-07 15:14:28 +11:00 committed by Peter Barker
parent 04fab27136
commit 1f46bd3a6f
4 changed files with 4 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Blimp/Blimp.h
View File

@ -151,7 +151,7 @@ private:
uint8_t logging_started : 1; // 4 // true if logging has started
uint8_t land_complete : 1; // 5 // true if we have detected a landing
uint8_t new_radio_frame : 1; // 6 // Set true if we have new PWM data to act on from the Radio
uint8_t rc_receiver_present : 1; // 7 // true if we have an rc receiver present (i.e. if we've ever received an update
uint8_t rc_receiver_present_unused : 1; // 7 // UNUSED
uint8_t compass_mot : 1; // 8 // true if we are currently performing compassmot calibration
uint8_t motor_test : 1; // 9 // true if we are currently performing the motors test
uint8_t initialised : 1; // 10 // true once the init_ardupilot function has completed. Extended status to GCS is not sent until this completes

10
Blimp/GCS_Blimp.cpp
View File

@ -32,14 +32,4 @@ void GCS_Blimp::update_vehicle_sensor_status_flags(void)
control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
const Blimp::ap_t &ap = blimp.ap;
if (ap.rc_receiver_present) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
}
if (ap.rc_receiver_present && !blimp.failsafe.radio) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
}
}

2
Blimp/mode.cpp
View File

@ -162,7 +162,7 @@ void Mode::update_navigation()
void Mode::get_pilot_input(Vector3f &pilot, float &yaw)
{
// throttle failsafe check
if (blimp.failsafe.radio || !blimp.ap.rc_receiver_present) {
if (blimp.failsafe.radio || !rc().has_ever_seen_rc_input()) {
pilot.y = 0;
pilot.x = 0;
pilot.z = 0;

7
Blimp/radio.cpp
View File

@ -61,9 +61,6 @@ void Blimp::read_radio()
set_throttle_and_failsafe(channel_up->get_radio_in());
set_throttle_zero_flag(channel_up->get_control_in());
// RC receiver must be attached if we've just got input
ap.rc_receiver_present = true;
const float dt = (tnow_ms - last_radio_update_ms)*1.0e-3f;
rc_throttle_control_in_filter.apply(channel_up->get_control_in(), dt);
last_radio_update_ms = tnow_ms;
@ -87,7 +84,7 @@ void Blimp::read_radio()
// throttle failsafe not enabled
return;
}
if (!ap.rc_receiver_present && !motors->armed()) {
if (!rc().has_ever_seen_rc_input() && !motors->armed()) {
// we only failsafe if we are armed OR we have ever seen an RC receiver
return;
}
@ -109,7 +106,7 @@ void Blimp::set_throttle_and_failsafe(uint16_t throttle_pwm)
if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) {
// if we are already in failsafe or motors not armed pass through throttle and exit
if (failsafe.radio || !(ap.rc_receiver_present || motors->armed())) {
if (failsafe.radio || !(rc().has_ever_seen_rc_input() || motors->armed())) {
return;
}