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Sub: Remove esc calibration

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This commit is contained in:
Jacob Walser 2017-03-23 00:37:45 -04:00
parent b0e5a93099
commit 3934281b43
5 changed files with 1 additions and 159 deletions
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7
ArduSub/Parameters.cpp
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@ -279,13 +279,6 @@ const AP_Param::Info Sub::var_info[] = {
// @User: Standard
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
// @Param: ESC_CALIBRATION
// @DisplayName: ESC Calibration
// @Description: Controls whether ArduSub will enter ESC calibration on the next restart. Do not adjust this parameter manually.
// @User: Advanced
// @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle, 9:Disabled
GSCALAR(esc_calibrate, "ESC_CALIBRATION", 0),
// @Param: DISARM_DELAY
// @DisplayName: Disarm delay
// @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.

4
ArduSub/Parameters.h
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@ -197,8 +197,7 @@ public:
k_param_compass_enabled,
k_param_surface_depth,
k_param_rc_speed, // Main output pwm frequency
k_param_esc_calibrate, // Boot-time ESC calibration behavior
k_param_gcs_pid_mask,
k_param_gcs_pid_mask = 178,
k_param_throttle_filt,
k_param_throttle_deadzone, // Used in auto-throttle modes
k_param_disarm_delay,
@ -283,7 +282,6 @@ public:
// Misc
//
AP_Int32 log_bitmask;
AP_Int8 esc_calibrate;
AP_Int8 disarm_delay;

3
ArduSub/Sub.h
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@ -623,9 +623,6 @@ private:
bool ekf_over_threshold();
void failsafe_ekf_event();
void failsafe_ekf_off_event(void);
void esc_calibration_startup_check();
void esc_calibration_passthrough();
void esc_calibration_auto();
bool should_disarm_on_failsafe();
void failsafe_battery_event(void);
void failsafe_gcs_check();

143
ArduSub/esc_calibration.cpp
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@ -1,143 +0,0 @@
#include "Sub.h"
/*****************************************************************************
* esc_calibration.pde : functions to check and perform ESC calibration
*****************************************************************************/
#define ESC_CALIBRATION_HIGH_THROTTLE 950
// enum for ESC CALIBRATION
enum ESCCalibrationModes {
ESCCAL_NONE = 0,
ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH = 1,
ESCCAL_PASSTHROUGH_ALWAYS = 2,
ESCCAL_AUTO = 3,
ESCCAL_DISABLED = 9,
};
// check if we should enter esc calibration mode
void Sub::esc_calibration_startup_check()
{
// exit immediately if pre-arm rc checks fail
if (!arming.rc_check()) {
// clear esc flag for next time
if ((g.esc_calibrate != ESCCAL_NONE) && (g.esc_calibrate != ESCCAL_DISABLED)) {
g.esc_calibrate.set_and_save(ESCCAL_NONE);
}
return;
}
// check ESC parameter
switch (g.esc_calibrate) {
case ESCCAL_NONE:
// check if throttle is high
if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
// we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
// send message to gcs
gcs_send_text(MAV_SEVERITY_CRITICAL,"ESC calibration: Restart board");
// turn on esc calibration notification
AP_Notify::flags.esc_calibration = true;
// block until we restart
while (1) {
hal.scheduler->delay(5);
}
}
break;
case ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH:
// check if throttle is high
if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
// pass through pilot throttle to escs
esc_calibration_passthrough();
}
break;
case ESCCAL_PASSTHROUGH_ALWAYS:
// pass through pilot throttle to escs
esc_calibration_passthrough();
break;
case ESCCAL_AUTO:
// perform automatic ESC calibration
esc_calibration_auto();
break;
case ESCCAL_DISABLED:
default:
// do nothing
break;
}
// clear esc flag for next time
if (g.esc_calibrate != ESCCAL_DISABLED) {
g.esc_calibrate.set_and_save(ESCCAL_NONE);
}
}
// esc_calibration_passthrough - pass through pilot throttle to escs
void Sub::esc_calibration_passthrough()
{
// clear esc flag for next time
g.esc_calibrate.set_and_save(ESCCAL_NONE);
// reduce update rate to motors to 50Hz
motors.set_update_rate(50);
// send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");
while (1) {
// arm motors
motors.armed(true);
motors.enable();
// flash LEDS
AP_Notify::flags.esc_calibration = true;
// pass through to motors
motors.set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
}
}
// esc_calibration_auto - calibrate the ESCs automatically using a timer and no pilot input
void Sub::esc_calibration_auto()
{
bool printed_msg = false;
// reduce update rate to motors to 50Hz
motors.set_update_rate(50);
// send message to GCS
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration");
// arm and enable motors
motors.armed(true);
motors.enable();
// flash LEDS
AP_Notify::flags.esc_calibration = true;
// raise throttle to maximum
hal.scheduler->delay(10);
motors.set_throttle_passthrough_for_esc_calibration(1.0f);
// wait for safety switch to be pressed
while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
if (!printed_msg) {
gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
printed_msg = true;
}
hal.scheduler->delay(10);
}
// delay for 5 seconds
hal.scheduler->delay(5000);
// reduce throttle to minimum
motors.set_throttle_passthrough_for_esc_calibration(0.0f);
// clear esc parameter
g.esc_calibrate.set_and_save(ESCCAL_NONE);
// block until we restart
while (1) {
hal.scheduler->delay(5);
}
}

3
ArduSub/radio.cpp
View File

@ -67,9 +67,6 @@ void Sub::init_rc_out()
motors.init((AP_Motors::motor_frame_class)g.frame_configuration.get(), (AP_Motors::motor_frame_type)0);
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
// check if we should enter esc calibration mode
esc_calibration_startup_check();
// enable output to motors
if (arming.rc_check()) {
enable_motor_output();