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sensors: use enum for switches position and -1..1 for values in 'manual_control_setpoint' topic

This commit is contained in:
Anton Babushkin 2014-04-03 17:26:07 +04:00
parent 2c4792d48e
commit 1d5f62d890
2 changed files with 92 additions and 108 deletions
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163
src/modules/sensors/sensors.cpp
View File

@ -135,7 +135,7 @@
*/
#define PCB_TEMP_ESTIMATE_DEG 5.0f
#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg)
#define STICK_ON_OFF_LIMIT 0.75f
/**
* Sensor app start / stop handling function
@ -169,6 +169,16 @@ private:
hrt_abstime _rc_last_valid; /**< last time we got a valid RC signal */
/**
* Get and limit value for specified RC function. Returns NAN if not mapped.
*/
float get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value);
/**
* Get switch position for specified function.
*/
switch_pos_t get_rc_switch_position(enum RC_CHANNELS_FUNCTION func);
/**
* Gather and publish RC input data.
*/
@ -1275,6 +1285,45 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
}
float
Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value)
{
if (_rc.function[func] >= 0) {
float value = _rc.chan[_rc.function[func]].scaled;
if (value < min_value) {
return min_value;
} else if (value > max_value) {
return max_value;
} else {
return value;
}
} else {
return NAN;
}
}
switch_pos_t
Sensors::get_rc_switch_position(enum RC_CHANNELS_FUNCTION func)
{
if (_rc.function[func] >= 0) {
float value = _rc.chan[_rc.function[func]].scaled;
if (value > STICK_ON_OFF_LIMIT) {
return SWITCH_POS_ON;
} else if (value < STICK_ON_OFF_LIMIT) {
return SWITCH_POS_OFF;
} else {
return SWITCH_POS_MIDDLE;
}
} else {
return SWITCH_POS_NONE;
}
}
void
Sensors::rc_poll()
{
@ -1292,13 +1341,6 @@ Sensors::rc_poll()
manual_control.pitch = NAN;
manual_control.yaw = NAN;
manual_control.throttle = NAN;
manual_control.mode_switch = NAN;
manual_control.return_switch = NAN;
manual_control.assisted_switch = NAN;
manual_control.mission_switch = NAN;
// manual_control.auto_offboard_input_switch = NAN;
manual_control.flaps = NAN;
manual_control.aux1 = NAN;
manual_control.aux2 = NAN;
@ -1306,6 +1348,11 @@ Sensors::rc_poll()
manual_control.aux4 = NAN;
manual_control.aux5 = NAN;
manual_control.mode_switch = SWITCH_POS_NONE;
manual_control.return_switch = SWITCH_POS_NONE;
manual_control.assisted_switch = SWITCH_POS_NONE;
manual_control.mission_switch = SWITCH_POS_NONE;
manual_control.signal_lost = true;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
@ -1316,7 +1363,7 @@ Sensors::rc_poll()
/* signal looks good */
manual_control.signal_lost = false;
/* check throttle failsafe */
/* check for throttle failsafe */
if (_parameters.rc_fs_ch != 0) {
if (_parameters.rc_fs_mode == 0) {
if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr) {
@ -1397,89 +1444,23 @@ Sensors::rc_poll()
if (!manual_control.signal_lost) {
/* fill values in manual_control_setpoint topic only if signal is valid */
/* roll input - rolling right is stick-wise and rotation-wise positive */
manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled);
/*
* pitch input - stick down is negative, but stick down is pitching up (pos) in NED,
* so reverse sign.
*/
manual_control.pitch = limit_minus_one_to_one(-1.0f * _rc.chan[_rc.function[PITCH]].scaled);
/* yaw input - stick right is positive and positive rotation */
manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled);
/* throttle input */
manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
/* limit controls */
manual_control.roll = get_rc_value(ROLL, -1.0, 1.0);
manual_control.pitch = get_rc_value(PITCH, -1.0, 1.0);
manual_control.yaw = get_rc_value(YAW, -1.0, 1.0);
manual_control.throttle = get_rc_value(THROTTLE, 0.0, 1.0);
manual_control.flaps = get_rc_value(FLAPS, -1.0, 1.0);
manual_control.aux1 = get_rc_value(AUX_1, -1.0, 1.0);
manual_control.aux2 = get_rc_value(AUX_2, -1.0, 1.0);
manual_control.aux3 = get_rc_value(AUX_3, -1.0, 1.0);
manual_control.aux4 = get_rc_value(AUX_4, -1.0, 1.0);
manual_control.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
/* scale output */
if (isfinite(_parameters.rc_scale_roll) && _parameters.rc_scale_roll > 0.0f) {
manual_control.roll *= _parameters.rc_scale_roll;
}
if (isfinite(_parameters.rc_scale_pitch) && _parameters.rc_scale_pitch > 0.0f) {
manual_control.pitch *= _parameters.rc_scale_pitch;
}
if (isfinite(_parameters.rc_scale_yaw) && _parameters.rc_scale_yaw > 0.0f) {
manual_control.yaw *= _parameters.rc_scale_yaw;
}
/* flaps */
if (_rc.function[FLAPS] >= 0) {
manual_control.flaps = limit_minus_one_to_one(_rc.chan[_rc.function[FLAPS]].scaled);
if (isfinite(_parameters.rc_scale_flaps) && _parameters.rc_scale_flaps > 0.0f) {
manual_control.flaps *= _parameters.rc_scale_flaps;
}
}
/* mode switch input */
if (_rc.function[MODE] >= 0) {
manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
}
/* assisted switch input */
if (_rc.function[ASSISTED] >= 0) {
manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
}
/* mission switch input */
if (_rc.function[MISSION] >= 0) {
manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
}
/* return switch input */
if (_rc.function[RETURN] >= 0) {
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
}
// if (_rc.function[OFFBOARD_MODE] >= 0) {
// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
// }
/* aux functions, only assign if valid mapping is present */
if (_rc.function[AUX_1] >= 0) {
manual_control.aux1 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_1]].scaled);
}
if (_rc.function[AUX_2] >= 0) {
manual_control.aux2 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_2]].scaled);
}
if (_rc.function[AUX_3] >= 0) {
manual_control.aux3 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_3]].scaled);
}
if (_rc.function[AUX_4] >= 0) {
manual_control.aux4 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_4]].scaled);
}
if (_rc.function[AUX_5] >= 0) {
manual_control.aux5 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_5]].scaled);
}
/* mode switches */
manual_control.mode_switch = get_rc_switch_position(MODE);
manual_control.assisted_switch = get_rc_switch_position(ASSISTED);
manual_control.mission_switch = get_rc_switch_position(MISSION);
manual_control.return_switch = get_rc_switch_position(RETURN);
/* copy from mapped manual control to control group 3 */
actuator_group_3.control[0] = manual_control.roll;

37
src/modules/uORB/topics/manual_control_setpoint.h
View File

@ -43,6 +43,16 @@
#include <stdint.h>
#include "../uORB.h"
/**
* Switch position
*/
typedef enum {
SWITCH_POS_NONE = 0, /**< switch is not mapped */
SWITCH_POS_ON, /**< switch activated (value = 1) */
SWITCH_POS_MIDDLE, /**< middle position (value = 0) */
SWITCH_POS_OFF /**< switch not activated (value = -1) */
} switch_pos_t;
/**
* @addtogroup topics
* @{
@ -53,32 +63,25 @@ struct manual_control_setpoint_s {
bool signal_lost; /**< control signal lost, should be checked together with topic timeout */
float roll; /**< ailerons roll / roll rate input */
float pitch; /**< elevator / pitch / pitch rate */
float yaw; /**< rudder / yaw rate / yaw */
float throttle; /**< throttle / collective thrust / altitude */
float mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */
float return_switch; /**< land 2 position switch (mandatory): land, no effect */
float assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */
float mission_switch; /**< mission 2 position switch (optional): mission, loiter */
/**
* Any of the channels below may not be available and be set to NaN
* Any of the channels may not be available and be set to NaN
* to indicate that it does not contain valid data.
*/
// XXX needed or parameter?
//float auto_offboard_input_switch; /**< controller setpoint source (0 = onboard, 1 = offboard) */
float flaps; /**< flap position */
float roll; /**< ailerons roll / roll rate input, -1..1 */
float pitch; /**< elevator / pitch / pitch rate, -1..1 */
float yaw; /**< rudder / yaw rate / yaw, -1..1 */
float throttle; /**< throttle / collective thrust / altitude, 0..1 */
float flaps; /**< flap position */
float aux1; /**< default function: camera yaw / azimuth */
float aux2; /**< default function: camera pitch / tilt */
float aux3; /**< default function: camera trigger */
float aux4; /**< default function: camera roll */
float aux5; /**< default function: payload drop */
switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */
switch_pos_t return_switch; /**< land 2 position switch (mandatory): land, no effect */
switch_pos_t assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */
switch_pos_t mission_switch; /**< mission 2 position switch (optional): mission, loiter */
}; /**< manual control inputs */
/**