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Plane: fixed relay handling

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the parameters were badly out of whack!
This commit is contained in:
Andrew Tridgell 2014-01-20 13:37:33 +11:00
parent 55b604b147
commit e4e5c92453
5 changed files with 60 additions and 30 deletions
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4
ArduPlane/ArduPlane.pde
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@ -617,8 +617,8 @@ static struct {
// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles // how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
int16_t repeat; int16_t repeat;
// RC channel for servos // RC channel for servos, relay number for relays
uint8_t rc_channel; uint8_t channel;
// PWM for servos // PWM for servos
uint16_t servo_value; uint16_t servo_value;

38
ArduPlane/GCS_Mavlink.pde
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@ -1309,7 +1309,17 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
case MAV_CMD_DO_REPEAT_SERVO: case MAV_CMD_DO_REPEAT_SERVO:
do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4); do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4*1000);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_DO_SET_RELAY:
do_set_relay(packet.param1, packet.param2);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_DO_REPEAT_RELAY:
do_repeat_relay(packet.param1, packet.param2, packet.param3*1000);
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
break; break;
@ -1462,8 +1472,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
case MAV_CMD_DO_REPEAT_SERVO: case MAV_CMD_DO_REPEAT_SERVO:
param4 = tell_command.lng; param4 = tell_command.lng*0.001f; // time
param3 = tell_command.lat; // repeat
param2 = tell_command.alt; // pwm
param1 = tell_command.p1; // channel
break;
case MAV_CMD_DO_REPEAT_RELAY: case MAV_CMD_DO_REPEAT_RELAY:
param3 = tell_command.lat*0.001f; // time
param2 = tell_command.alt; // count
param1 = tell_command.p1; // relay number
break;
case MAV_CMD_DO_CHANGE_SPEED: case MAV_CMD_DO_CHANGE_SPEED:
param3 = tell_command.lat; param3 = tell_command.lat;
param2 = tell_command.alt; param2 = tell_command.alt;
@ -1763,10 +1783,20 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
case MAV_CMD_DO_REPEAT_SERVO: case MAV_CMD_DO_REPEAT_SERVO:
tell_command.lng = packet.param4; tell_command.lng = packet.param4*1000; // time
tell_command.lat = packet.param3; // count
tell_command.alt = packet.param2; // PWM
tell_command.p1 = packet.param1; // channel
break;
case MAV_CMD_DO_REPEAT_RELAY: case MAV_CMD_DO_REPEAT_RELAY:
tell_command.lat = packet.param3*1000; // time
tell_command.alt = packet.param2; // count
tell_command.p1 = packet.param1; // relay number
break;
case MAV_CMD_DO_CHANGE_SPEED: case MAV_CMD_DO_CHANGE_SPEED:
tell_command.lat = packet.param3; tell_command.lat = packet.param3*1000; // convert to milliseconds
tell_command.alt = packet.param2; tell_command.alt = packet.param2;
tell_command.p1 = packet.param1; tell_command.p1 = packet.param1;
break; break;

36
ArduPlane/commands_logic.pde
View File

@ -94,7 +94,7 @@ static void handle_process_do_command()
break; break;
case MAV_CMD_DO_SET_RELAY: case MAV_CMD_DO_SET_RELAY:
do_set_relay(); do_set_relay(next_nonnav_command.p1, next_nonnav_command.alt);
break; break;
case MAV_CMD_DO_REPEAT_SERVO: case MAV_CMD_DO_REPEAT_SERVO:
@ -103,7 +103,8 @@ static void handle_process_do_command()
break; break;
case MAV_CMD_DO_REPEAT_RELAY: case MAV_CMD_DO_REPEAT_RELAY:
do_repeat_relay(); do_repeat_relay(next_nonnav_command.p1, next_nonnav_command.alt,
next_nonnav_command.lat);
break; break;
#if CAMERA == ENABLED #if CAMERA == ENABLED
@ -620,46 +621,45 @@ static void do_set_servo()
servo_write(next_nonnav_command.p1 - 1, next_nonnav_command.alt); servo_write(next_nonnav_command.p1 - 1, next_nonnav_command.alt);
} }
static void do_set_relay() static void do_set_relay(uint8_t relay_num, uint8_t state)
{ {
if (next_nonnav_command.p1 == 1) { if (state == 1) {
gcs_send_text_fmt(PSTR("Relay on")); gcs_send_text_fmt(PSTR("Relay on"));
relay.on(); relay.on(relay_num);
} else if (next_nonnav_command.p1 == 0) { } else if (state == 0) {
gcs_send_text_fmt(PSTR("Relay off")); gcs_send_text_fmt(PSTR("Relay off"));
relay.off(); relay.off(relay_num);
}else{ } else {
gcs_send_text_fmt(PSTR("Relay toggle")); gcs_send_text_fmt(PSTR("Relay toggle"));
relay.toggle(); relay.toggle(relay_num);
} }
} }
static void do_repeat_servo(uint8_t channel, uint16_t servo_value, static void do_repeat_servo(uint8_t channel, uint16_t servo_value, int16_t repeat, uint16_t delay_time_ms)
int16_t repeat, uint8_t delay_time)
{ {
channel = channel - 1; channel = channel - 1;
if (channel < 5 || channel > 8) { if (channel < 5 || channel > 16) {
// not allowed // not allowed
return; return;
} }
event_state.rc_channel = channel; event_state.channel = channel;
event_state.type = EVENT_TYPE_SERVO; event_state.type = EVENT_TYPE_SERVO;
event_state.start_time_ms = 0; event_state.start_time_ms = 0;
event_state.delay_ms = delay_time * 500UL; event_state.delay_ms = delay_time_ms / 2;
event_state.repeat = repeat * 2; event_state.repeat = repeat * 2;
event_state.servo_value = servo_value; event_state.servo_value = servo_value;
event_state.undo_value = RC_Channel::rc_channel(channel)->radio_trim; event_state.undo_value = RC_Channel::rc_channel(channel)->radio_trim;
update_events(); update_events();
} }
static void do_repeat_relay() static void do_repeat_relay(uint8_t relay_num, int16_t count, uint32_t period_ms)
{ {
event_state.type = EVENT_TYPE_RELAY; event_state.type = EVENT_TYPE_RELAY;
event_state.channel = relay_num;
event_state.start_time_ms = 0; event_state.start_time_ms = 0;
// /2 (half cycle time) * 1000 (convert to milliseconds) event_state.delay_ms = period_ms/2; // half cycle time
event_state.delay_ms = next_nonnav_command.lat * 500.0; event_state.repeat = count*2; // number of full cycles
event_state.repeat = next_nonnav_command.alt * 2;
update_events(); update_events();
} }

8
ArduPlane/events.pde
View File

@ -133,17 +133,17 @@ static void update_events(void)
switch (event_state.type) { switch (event_state.type) {
case EVENT_TYPE_SERVO: case EVENT_TYPE_SERVO:
hal.rcout->enable_ch(event_state.rc_channel); hal.rcout->enable_ch(event_state.channel);
if (event_state.repeat & 1) { if (event_state.repeat & 1) {
servo_write(event_state.rc_channel, event_state.undo_value); servo_write(event_state.channel, event_state.undo_value);
} else { } else {
servo_write(event_state.rc_channel, event_state.servo_value); servo_write(event_state.channel, event_state.servo_value);
} }
break; break;
case EVENT_TYPE_RELAY: case EVENT_TYPE_RELAY:
gcs_send_text_fmt(PSTR("Relay toggle")); gcs_send_text_fmt(PSTR("Relay toggle"));
relay.toggle(); relay.toggle(event_state.channel);
break; break;
} }

4
ArduPlane/test.pde
View File

@ -255,14 +255,14 @@ test_relay(uint8_t argc, const Menu::arg *argv)
while(1) { while(1) {
cliSerial->printf_P(PSTR("Relay on\n")); cliSerial->printf_P(PSTR("Relay on\n"));
relay.on(); relay.on(0);
delay(3000); delay(3000);
if(cliSerial->available() > 0) { if(cliSerial->available() > 0) {
return (0); return (0);
} }
cliSerial->printf_P(PSTR("Relay off\n")); cliSerial->printf_P(PSTR("Relay off\n"));
relay.off(); relay.off(0);
delay(3000); delay(3000);
if(cliSerial->available() > 0) { if(cliSerial->available() > 0) {
return (0); return (0);