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px4-firmware
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Reworked manual override flag, reworked arming slightly. Pending testing

This commit is contained in:
Lorenz Meier 2013-02-13 07:43:51 +01:00
parent d4ca6a29a1
commit 4595cc65b8
4 changed files with 12 additions and 21 deletions
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6
apps/drivers/px4io/px4io.cpp
View File

@ -335,7 +335,7 @@ PX4IO::init()
/* dis-arm IO before touching anything */
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
PX4IO_P_SETUP_ARMING_ARM_OK |
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE |
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0);
/* publish RC config to IO */
@ -541,9 +541,9 @@ PX4IO::io_set_arming_state()
clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;
}
if (vstatus.flag_external_manual_override_ok) {
set |= PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK;
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
} else {
clear |= PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK;
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
}
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);

14
apps/px4io/controls.c
View File

@ -245,11 +245,12 @@ controls_main(void)
/*
* Check for manual override.
*
* The OVERRIDE_OK feature must be set, and we must have R/C input.
* The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we
* must have R/C input.
* Override is enabled if either the hardcoded channel / value combination
* is selected, or the AP has requested it.
*/
if ((r_setup_features & PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK) &&
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
bool override = false;
@ -260,14 +261,7 @@ controls_main(void)
*
* XXX This should be configurable.
*/
if ((r_rc_valid & (1 << 4)) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH))
override = true;
/*
* Check for an explicit manual override request from the AP.
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE))
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH))
override = true;
if (override) {

5
apps/px4io/protocol.h
View File

@ -136,12 +136,11 @@
/* setup page */
#define PX4IO_PAGE_SETUP 100
#define PX4IO_P_SETUP_FEATURES 0
#define PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK (1 << 0) /* OK to switch to manual override */
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */
#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE (1 << 2) /* request switch to manual override */
#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3)
#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */
#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
#define PX4IO_P_SETUP_PWM_LOWRATE 3 /* 'low' PWM frame output rate in Hz */

8
apps/px4io/registers.c
View File

@ -140,9 +140,9 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_IBATT_BIAS] = 0
};
#define PX4IO_P_SETUP_FEATURES_VALID (PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK)
#define PX4IO_P_SETUP_FEATURES_VALID (0)
#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_ARM_OK | \
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE)
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK)
#define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
@ -283,9 +283,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
value &= PX4IO_P_SETUP_FEATURES_VALID;
r_setup_features = value;
/* update manual override state - disable if no longer OK */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && !(value & PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK))
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
/* no implemented feature selection at this point */
break;