Rover: radio.cpp correct whitespace, remove tabs
This commit is contained in:
Pierre Kancir
Randy Mackay
parent
fb8446ffd5
commit
25fbfeb5cf
@ -9,8 +9,8 @@ void Rover::set_control_channels(void)
|
||||
channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
|
||||
channel_learn = RC_Channel::rc_channel(g.learn_channel-1);
|
||||
|
||||
// set rc channel ranges
|
||||
channel_steer->set_angle(SERVO_MAX);
|
||||
// set rc channel ranges
|
||||
channel_steer->set_angle(SERVO_MAX);
|
||||
channel_throttle->set_angle(100);
|
||||
|
||||
// For a rover safety is TRIM throttle
|
||||
@ -20,19 +20,18 @@ void Rover::set_control_channels(void)
|
||||
hal.rcout->set_safety_pwm(1UL<<(rcmap.roll()-1), channel_steer->get_radio_trim());
|
||||
}
|
||||
}
|
||||
|
||||
// setup correct scaling for ESCs like the UAVCAN PX4ESC which
|
||||
// take a proportion of speed.
|
||||
// take a proportion of speed.
|
||||
hal.rcout->set_esc_scaling(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
|
||||
}
|
||||
|
||||
void Rover::init_rc_in()
|
||||
{
|
||||
// set rc dead zones
|
||||
channel_steer->set_default_dead_zone(30);
|
||||
channel_throttle->set_default_dead_zone(30);
|
||||
// set rc dead zones
|
||||
channel_steer->set_default_dead_zone(30);
|
||||
channel_throttle->set_default_dead_zone(30);
|
||||
|
||||
//set auxiliary ranges
|
||||
// set auxiliary ranges
|
||||
update_aux();
|
||||
}
|
||||
|
||||
@ -48,10 +47,10 @@ void Rover::init_rc_out()
|
||||
}
|
||||
}
|
||||
|
||||
RC_Channel::output_trim_all();
|
||||
RC_Channel::output_trim_all();
|
||||
|
||||
// setup PWM values to send if the FMU firmware dies
|
||||
RC_Channel::setup_failsafe_trim_all();
|
||||
RC_Channel::setup_failsafe_trim_all();
|
||||
|
||||
// output throttle trim when safety off if arming
|
||||
// is setup for min on disarm. MIN is from plane where MIN is effectively no throttle.
|
||||
@ -83,48 +82,47 @@ void Rover::rudder_arm_disarm_check()
|
||||
return;
|
||||
}
|
||||
|
||||
if (!arming.is_armed()) {
|
||||
// when not armed, full right rudder starts arming counter
|
||||
if (channel_steer->get_control_in() > 4000) {
|
||||
uint32_t now = millis();
|
||||
if (!arming.is_armed()) {
|
||||
// when not armed, full right rudder starts arming counter
|
||||
if (channel_steer->get_control_in() > 4000) {
|
||||
uint32_t now = millis();
|
||||
|
||||
if (rudder_arm_timer == 0 ||
|
||||
now - rudder_arm_timer < 3000) {
|
||||
|
||||
if (rudder_arm_timer == 0) {
|
||||
if (rudder_arm_timer == 0 ||
|
||||
now - rudder_arm_timer < 3000) {
|
||||
if (rudder_arm_timer == 0) {
|
||||
rudder_arm_timer = now;
|
||||
}
|
||||
} else {
|
||||
//time to arm!
|
||||
arm_motors(AP_Arming::RUDDER);
|
||||
rudder_arm_timer = 0;
|
||||
}
|
||||
} else {
|
||||
// not at full right rudder
|
||||
rudder_arm_timer = 0;
|
||||
}
|
||||
} else if (!motor_active() & !g.skid_steer_out) {
|
||||
// when armed and motor not active (not moving), full left rudder starts disarming counter
|
||||
} else {
|
||||
// time to arm!
|
||||
arm_motors(AP_Arming::RUDDER);
|
||||
rudder_arm_timer = 0;
|
||||
}
|
||||
} else {
|
||||
// not at full right rudder
|
||||
rudder_arm_timer = 0;
|
||||
}
|
||||
} else if (!motor_active() & !g.skid_steer_out) {
|
||||
// when armed and motor not active (not moving), full left rudder starts disarming counter
|
||||
// This is disabled for skid steering otherwise when tring to turn a skid steering rover around
|
||||
// the rover would disarm
|
||||
if (channel_steer->get_control_in() < -4000) {
|
||||
uint32_t now = millis();
|
||||
if (channel_steer->get_control_in() < -4000) {
|
||||
uint32_t now = millis();
|
||||
|
||||
if (rudder_arm_timer == 0 ||
|
||||
now - rudder_arm_timer < 3000) {
|
||||
if (rudder_arm_timer == 0) {
|
||||
if (rudder_arm_timer == 0 ||
|
||||
now - rudder_arm_timer < 3000) {
|
||||
if (rudder_arm_timer == 0) {
|
||||
rudder_arm_timer = now;
|
||||
}
|
||||
} else {
|
||||
//time to disarm!
|
||||
disarm_motors();
|
||||
rudder_arm_timer = 0;
|
||||
}
|
||||
} else {
|
||||
// not at full left rudder
|
||||
rudder_arm_timer = 0;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
// time to disarm!
|
||||
disarm_motors();
|
||||
rudder_arm_timer = 0;
|
||||
}
|
||||
} else {
|
||||
// not at full left rudder
|
||||
rudder_arm_timer = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Rover::read_radio()
|
||||
@ -138,20 +136,20 @@ void Rover::read_radio()
|
||||
|
||||
RC_Channel::set_pwm_all();
|
||||
|
||||
control_failsafe(channel_throttle->get_radio_in());
|
||||
control_failsafe(channel_throttle->get_radio_in());
|
||||
|
||||
channel_throttle->set_servo_out(channel_throttle->get_control_in());
|
||||
channel_throttle->set_servo_out(channel_throttle->get_control_in());
|
||||
|
||||
// Check if the throttle value is above 50% and we need to nudge
|
||||
// Make sure its above 50% in the direction we are travelling
|
||||
if ((abs(channel_throttle->get_servo_out()) > 50) &&
|
||||
if ((abs(channel_throttle->get_servo_out()) > 50) &&
|
||||
(((channel_throttle->get_servo_out() < 0) && in_reverse) ||
|
||||
((channel_throttle->get_servo_out() > 0) && !in_reverse))) {
|
||||
throttle_nudge = (g.throttle_max - g.throttle_cruise) *
|
||||
((fabsf(channel_throttle->norm_input())-0.5f) / 0.5f);
|
||||
} else {
|
||||
throttle_nudge = 0;
|
||||
}
|
||||
} else {
|
||||
throttle_nudge = 0;
|
||||
}
|
||||
|
||||
if (g.skid_steer_in) {
|
||||
// convert the two radio_in values from skid steering values
|
||||
@ -184,26 +182,25 @@ void Rover::read_radio()
|
||||
}
|
||||
|
||||
rudder_arm_disarm_check();
|
||||
|
||||
}
|
||||
|
||||
void Rover::control_failsafe(uint16_t pwm)
|
||||
{
|
||||
if (!g.fs_throttle_enabled) {
|
||||
if (!g.fs_throttle_enabled) {
|
||||
// no throttle failsafe
|
||||
return;
|
||||
return;
|
||||
}
|
||||
|
||||
// Check for failsafe condition based on loss of GCS control
|
||||
if (rc_override_active) {
|
||||
// Check for failsafe condition based on loss of GCS control
|
||||
if (rc_override_active) {
|
||||
failsafe_trigger(FAILSAFE_EVENT_RC, (millis() - failsafe.rc_override_timer) > 1500);
|
||||
} else if (g.fs_throttle_enabled) {
|
||||
} else if (g.fs_throttle_enabled) {
|
||||
bool failed = pwm < (uint16_t)g.fs_throttle_value;
|
||||
if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 2000) {
|
||||
failed = true;
|
||||
}
|
||||
failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
@ -227,11 +224,11 @@ bool Rover::throttle_failsafe_active(void)
|
||||
|
||||
void Rover::trim_control_surfaces()
|
||||
{
|
||||
read_radio();
|
||||
// Store control surface trim values
|
||||
// ---------------------------------
|
||||
read_radio();
|
||||
// Store control surface trim values
|
||||
// ---------------------------------
|
||||
if (channel_steer->get_radio_in() > 1400) {
|
||||
channel_steer->set_radio_trim(channel_steer->get_radio_in());
|
||||
channel_steer->set_radio_trim(channel_steer->get_radio_in());
|
||||
// save to eeprom
|
||||
channel_steer->save_eeprom();
|
||||
}
|
||||
@ -239,8 +236,8 @@ void Rover::trim_control_surfaces()
|
||||
|
||||
void Rover::trim_radio()
|
||||
{
|
||||
for (int y = 0; y < 30; y++) {
|
||||
read_radio();
|
||||
}
|
||||
for (int y = 0; y < 30; y++) {
|
||||
read_radio();
|
||||
}
|
||||
trim_control_surfaces();
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user