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px4-firmware
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Send rc channel ordering and channel attributes from FMU to IO

This commit is contained in:
Simon Wilks 2013-01-05 22:13:12 +01:00
parent 1b81724ef7
commit 0a89ab7075
5 changed files with 84 additions and 15 deletions
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30
apps/drivers/px4io/px4io.cpp
View File

@ -72,6 +72,7 @@
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <systemlib/scheduling_priorities.h>
#include <systemlib/param/param.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
@ -608,6 +609,35 @@ PX4IO::io_send()
/* set desired PWM output rate */
cmd.servo_rate = _update_rate;
/* maintaing the standard order of Roll, Pitch, Yaw, Throttle */
cmd.rc_map[0] = param_find("RC_MAP_ROLL");
cmd.rc_map[1] = param_find("RC_MAP_PITCH");
cmd.rc_map[2] = param_find("RC_MAP_YAW");
cmd.rc_map[3] = param_find("RC_MAP_THROTTLE");
/* set the individual channel properties */
char nbuf[16];
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MIN", i);
cmd.rc_min[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_TRIM", i);
cmd.rc_trim[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MAX", i);
cmd.rc_max[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_REV", i);
cmd.rc_rev[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_DZ", i);
cmd.rc_dz[i] = (uint16_t)param_find(nbuf);
}
ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd));
if (ret)

13
apps/px4io/comms.c
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@ -207,6 +207,19 @@ comms_handle_command(const void *buffer, size_t length)
system_state.servo_rate = new_servo_rate;
}
/* fetch the rc mappings */
for (unsigned i = 0; i < 4; i++)
system_state.rc_map[i] = cmd->rc_map[i];
/* fetch the rc channel attributes */
for (unsigned i = 0; i < 4; i++) {
system_state.rc_min[i] = cmd->rc_min[i];
system_state.rc_trim[i] = cmd->rc_trim[i];
system_state.rc_max[i] = cmd->rc_max[i];
system_state.rc_rev[i] = cmd->rc_rev[i];
system_state.rc_dz[i] = cmd->rc_dz[i];
}
/*
* update servo values immediately.
* the updates are done in addition also

34
apps/px4io/mixer.cpp
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@ -67,6 +67,12 @@ extern "C" {
*/
#define FMU_INPUT_DROP_LIMIT_US 200000
/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */
#define ROLL 0
#define PITCH 1
#define YAW 2
#define THROTTLE 3
/* current servo arm/disarm state */
bool mixer_servos_armed = false;
@ -112,22 +118,22 @@ mixer_tick(void)
/* when override is on or the fmu is not available, but RC is present */
control_count = system_state.rc_channels;
// Remap the channels based on the radio type.
// FMU: Roll, Pitch, Yaw, Throttle
// Graupner: Throttle, Roll, Pitch, Yaw
sched_lock();
rc_channel_data[0] = system_state.rc_channel_data[1];
rc_channel_data[1] = system_state.rc_channel_data[2];
rc_channel_data[2] = system_state.rc_channel_data[3];
rc_channel_data[3] = system_state.rc_channel_data[0];
// AETR
//rc_channel_data[0] = system_state.rc_channel_data[0];
//rc_channel_data[1] = system_state.rc_channel_data[1];
//rc_channel_data[2] = system_state.rc_channel_data[3];
//rc_channel_data[3] = system_state.rc_channel_data[2];
for (unsigned i = 4; i < system_state.rc_channels; i++) {
/* remap roll, pitch, yaw and throttle from RC specific to internal ordering */
rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL]];
rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH]];
rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW]];
rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE]];
/* get the remaining channels, no remapping needed */
for (unsigned i = 4; i < system_state.rc_channels; i++)
rc_channel_data[i] = system_state.rc_channel_data[i];
}
/* scale the control inputs */
rc_channel_data[THROTTLE] = ((rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) /
(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000 + 1000;
control_values = &rc_channel_data[0];
sched_unlock();
} else {

6
apps/px4io/protocol.h
View File

@ -60,6 +60,12 @@ struct px4io_command {
bool arm_ok; /**< FMU allows full arming */
bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */
bool manual_override_ok; /**< if true, IO performs a direct manual override */
uint16_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */
uint16_t rc_min[4]; /**< min value for each channel */
uint16_t rc_trim[4]; /**< trim value for each channel */
uint16_t rc_max[4]; /**< max value for each channel */
uint16_t rc_rev[4]; /**< rev value for each channel */
uint16_t rc_dz[4]; /**< dz value for each channel */
};
/**

14
apps/px4io/px4io.h
View File

@ -72,6 +72,20 @@ struct sys_state_s {
bool arm_ok; /* FMU says OK to arm */
uint16_t servo_rate; /* output rate of servos in Hz */
/**
* Remote control input(s) channel mappings
*/
uint16_t rc_map[4];
/**
* Remote control channel attributes
*/
uint16_t rc_min[4];
uint16_t rc_trim[4];
uint16_t rc_max[4];
uint16_t rc_rev[4];
uint16_t rc_dz[4];
/**
* Data from the remote control input(s)
*/