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'signal_lost' flag added to manual_control_setpoint and rc_channels topics to indicate signal loss immediately

This commit is contained in:
Anton Babushkin 2014-04-03 11:45:57 +04:00
parent 0205eebaa6
commit 367ce63b86
4 changed files with 136 additions and 130 deletions
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13
src/modules/commander/commander.cpp
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@ -118,8 +118,7 @@ extern struct system_load_s system_load;
#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */
#define RC_TIMEOUT 100000
#define RC_TIMEOUT_HIL 500000
#define RC_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000
#define PRINT_INTERVAL 5000000
@ -1109,16 +1108,8 @@ int commander_thread_main(int argc, char *argv[])
}
}
/*
* XXX workaround:
* Prevent RC loss in HIL when sensors.cpp is only publishing sp_man at a low rate (e.g. 30Hz)
* which can trigger RC loss if the computer/simulator lags.
*/
uint64_t rc_timeout = status.hil_state == HIL_STATE_ON ? RC_TIMEOUT_HIL : RC_TIMEOUT;
/* start RC input check */
if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + rc_timeout) {
if (!status.rc_input_blocked && !sp_man.signal_lost && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;

250
src/modules/sensors/sensors.cpp
View File

@ -474,6 +474,7 @@ Sensors::Sensors() :
_battery_discharged(0),
_battery_current_timestamp(0)
{
memset(&_rc, 0, sizeof(_rc));
/* basic r/c parameters */
for (unsigned i = 0; i < _rc_max_chan_count; i++) {
@ -1283,12 +1284,6 @@ Sensors::rc_poll()
if (rc_updated) {
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
struct rc_input_values rc_input;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
if (rc_input.rc_lost)
return;
struct manual_control_setpoint_s manual_control;
struct actuator_controls_s actuator_group_3;
@ -1311,19 +1306,28 @@ Sensors::rc_poll()
manual_control.aux4 = NAN;
manual_control.aux5 = NAN;
/* require at least four channels to consider the signal valid */
if (rc_input.channel_count < 4)
return;
manual_control.signal_lost = true;
/* failsafe check */
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)
return;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
} else if (_parameters.rc_fs_mode == 1) {
if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr)
return;
/* detect RC signal loss */
/* check flags and require at least four channels to consider the signal valid */
if (!(rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4)) {
/* signal looks good */
manual_control.signal_lost = false;
/* check 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) {
manual_control.signal_lost = true;
}
} else if (_parameters.rc_fs_mode == 1) {
if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr) {
manual_control.signal_lost = true;
}
}
}
}
@ -1332,10 +1336,7 @@ Sensors::rc_poll()
if (channel_limit > _rc_max_chan_count)
channel_limit = _rc_max_chan_count;
/* we are accepting this message */
_rc_last_valid = rc_input.timestamp_last_signal;
/* Read out values from raw message */
/* read out and scale values from raw message even if signal is invalid */
for (unsigned int i = 0; i < channel_limit; i++) {
/*
@ -1382,105 +1383,124 @@ Sensors::rc_poll()
}
_rc.chan_count = rc_input.channel_count;
_rc.timestamp = rc_input.timestamp_last_signal;
_rc.rssi = rc_input.rssi;
_rc.signal_lost = manual_control.signal_lost;
manual_control.timestamp = rc_input.timestamp_last_signal;
/* 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;
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 (!manual_control.signal_lost) {
_rc_last_valid = rc_input.timestamp_last_signal;
}
if (isfinite(_parameters.rc_scale_pitch) && _parameters.rc_scale_pitch > 0.0f) {
manual_control.pitch *= _parameters.rc_scale_pitch;
}
_rc.timestamp = _rc_last_valid;
if (isfinite(_parameters.rc_scale_yaw) && _parameters.rc_scale_yaw > 0.0f) {
manual_control.yaw *= _parameters.rc_scale_yaw;
}
manual_control.timestamp = _rc_last_valid;
/* flaps */
if (_rc.function[FLAPS] >= 0) {
if (!manual_control.signal_lost) {
/* fill values in manual_control_setpoint topic only if signal is valid */
manual_control.flaps = limit_minus_one_to_one(_rc.chan[_rc.function[FLAPS]].scaled);
/* 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;
if (isfinite(_parameters.rc_scale_flaps) && _parameters.rc_scale_flaps > 0.0f) {
manual_control.flaps *= _parameters.rc_scale_flaps;
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);
}
/* copy from mapped manual control to control group 3 */
actuator_group_3.control[0] = manual_control.roll;
actuator_group_3.control[1] = manual_control.pitch;
actuator_group_3.control[2] = manual_control.yaw;
actuator_group_3.control[3] = manual_control.throttle;
actuator_group_3.control[4] = manual_control.flaps;
actuator_group_3.control[5] = manual_control.aux1;
actuator_group_3.control[6] = manual_control.aux2;
actuator_group_3.control[7] = manual_control.aux3;
/* publish actuator_controls_3 topic only if control signal is valid */
if (_actuator_group_3_pub > 0) {
orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
} else {
_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
}
}
/* 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);
}
/* copy from mapped manual control to control group 3 */
actuator_group_3.control[0] = manual_control.roll;
actuator_group_3.control[1] = manual_control.pitch;
actuator_group_3.control[2] = manual_control.yaw;
actuator_group_3.control[3] = manual_control.throttle;
actuator_group_3.control[4] = manual_control.flaps;
actuator_group_3.control[5] = manual_control.aux1;
actuator_group_3.control[6] = manual_control.aux2;
actuator_group_3.control[7] = manual_control.aux3;
/* check if ready for publishing */
/* publish rc_channels topic even if signal is invalid, for debug */
if (_rc_pub > 0) {
orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
@ -1489,21 +1509,13 @@ Sensors::rc_poll()
_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
}
/* check if ready for publishing */
/* publish manual_control_setpoint topic even if signal is not valid to update 'signal_lost' flag */
if (_manual_control_pub > 0) {
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
} else {
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
}
/* check if ready for publishing */
if (_actuator_group_3_pub > 0) {
orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
} else {
_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
}
}
}

2
src/modules/uORB/topics/manual_control_setpoint.h
View File

@ -51,6 +51,8 @@
struct manual_control_setpoint_s {
uint64_t timestamp;
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 */

1
src/modules/uORB/topics/rc_channels.h
View File

@ -94,6 +94,7 @@ struct rc_channels_s {
char function_name[RC_CHANNELS_FUNCTION_MAX][20];
int8_t function[RC_CHANNELS_FUNCTION_MAX];
uint8_t rssi; /**< Overall receive signal strength */
bool signal_lost; /**< control signal lost, should be checked together with topic timeout */
}; /**< radio control channels. */
/**