forked from Archive/PX4-Autopilot
Bart Slinger
Lorenz Meier
parent
d8d9ab1bfb
commit
a7c8d77453
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@ -12,9 +12,9 @@ sh /etc/init.d/rc.mc_defaults
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# Configure as helicopter (number 4 defined in commander_helper.cpp)
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set MAV_TYPE 4
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set MIXER heli_120deg
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set MIXER blade130
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set PWM_OUT 1234
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#set PWM_OUT 1234
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if [ $AUTOCNF == yes ]
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then
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@ -39,7 +39,9 @@ then
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param set MC_ACRO_R_MAX 360.0
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param set MC_ACRO_P_MAX 360.0
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# param set PWM_DISARMED 1500
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param set PWM_MIN 1075
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# param set PWM_MAX 1950
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param set MPC_THR_MIN 0.06
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param set MPC_MANTHR_MIN 0.06
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@ -48,3 +50,5 @@ then
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param set CBRK_IO_SAFETY 22027
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fi
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set HIL no
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@ -0,0 +1,16 @@
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Helicopter Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
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Blade 130x helicopter has longer servo arms left and right. The front servo arm is shortest and has normalized length 10000.
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==================================================
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H: 3
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T: 0 3000 6000 8000 10000
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P: 500 1500 2500 3500 4500
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# Swash plate servos:
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S: 0 10000 10000 0 -8000 8000
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S: 140 13054 10000 0 -8000 8000
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S: 220 13054 10000 0 -8000 8000
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# Tail servo:
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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@ -1,54 +0,0 @@
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Helicopter 120 degree Cyclic-Collective-Pitch Mixing (CCPM) for PX4FMU
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Blade 130x helicopter has longer servo arms left and right. The front servo arm is shorter.
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Therefore it is not required to use the 0.866 factor.
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==================================================
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Output 0 - Left Servo Mixer
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-----------------
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Left Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) + Aileron (Roll - 0)
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M: 3
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O: 10000 10000 0 -10000 10000
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S: 3 5 10000 10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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Output 1 - Front Servo Mixer
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----------------
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Rear Servo = Collective (Thrust - 3) + Elevator (Pitch - 1)
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 3 5 10000 10000 0 -10000 10000
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S: 0 1 10000 10000 0 -10000 10000
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Output 2 - Right Servo Mixer
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----------------
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Right Servo = Collective (Thurst - 3) - 0.5 * Elevator (Pitch - 1) - Aileron (Roll - 0)
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M: 3
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O: 10000 10000 0 -10000 10000
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S: 3 5 10000 10000 0 -10000 10000
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S: 0 1 -10000 -10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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Output 3 - Tail Servo Mixer
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----------------
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Tail Servo = Yaw (control index = 2)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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Output 4 - Motor speed mixer
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-----------------
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This would be the motor speed control output from governor power demand- not sure what index to use here?
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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@ -84,7 +84,7 @@ def main():
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for line in f:
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# handle mixer files differently than startup files
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if file_path.endswith(".mix"):
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if line.startswith(("Z:", "M:", "R: ", "O:", "S:")):
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if line.startswith(("Z:", "M:", "R: ", "O:", "S:", "H:", "T:", "P:")):
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pruned_content += line
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else:
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if not line.isspace() \
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@ -83,6 +83,7 @@ set(srcs
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../systemlib/mixer/mixer.cpp
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../systemlib/mixer/mixer_group.cpp
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../systemlib/mixer/mixer_multirotor.cpp
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../systemlib/mixer/mixer_helicopter.cpp
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../systemlib/mixer/mixer_simple.cpp
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../systemlib/pwm_limit/pwm_limit.c
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../../lib/rc/st24.c
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@ -47,6 +47,7 @@ px4_add_module(
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mixer_group.cpp
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mixer_multirotor.cpp
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mixer_simple.cpp
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mixer_helicopter.cpp
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mixer_load.c
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mixer_multirotor.generated.h
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DEPENDS
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@ -315,6 +315,20 @@ public:
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*
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* R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
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*
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* Helicopter Mixer
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* ................
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*
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* The helicopter mixer includes throttle and pitch curves
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*
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* H: <swash plate servo count>
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* T: <0> <2500> <5000> <7500> <10000>
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* P: <-10000> <-5000> <0> <5000> <10000>
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*
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* The definition continues with <swash plate servo count> entries describing
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* the position of the servo, in the following form:
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*
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* S: <angle (deg)> <normalized arm length> <scale> <offset> <lower limit> <upper limit>
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*
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* @param buf The mixer configuration buffer.
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* @param buflen The length of the buffer, updated to reflect
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* bytes as they are consumed.
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@ -597,4 +611,77 @@ private:
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MultirotorMixer operator=(const MultirotorMixer &);
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};
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/** helicopter swash servo mixer */
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struct mixer_heli_servo_s {
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float angle;
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float arm_length;
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float scale;
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float offset;
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float min_output;
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float max_output;
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};
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#define HELI_CURVES_NR_POINTS 5
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/** helicopter swash plate mixer */
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struct mixer_heli_s {
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uint8_t control_count; /**< number of inputs */
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float throttle_curve[HELI_CURVES_NR_POINTS];
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float pitch_curve[HELI_CURVES_NR_POINTS];
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struct mixer_heli_servo_s servos[4]; /**< up to four inputs */
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};
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/**
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* Generic helicopter mixer for helicopters with swash plate.
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*
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* Collects four inputs (roll, pitch, yaw, thrust) and mixes them to servo commands
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* for swash plate tilting and throttle- and pitch curves.
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*/
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class __EXPORT HelicopterMixer : public Mixer
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{
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public:
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/**
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* Constructor.
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*
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* @param control_cb Callback invoked to read inputs.
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* @param cb_handle Passed to control_cb.
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* @param mixer_info Pointer to heli mixer configuration
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*/
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HelicopterMixer(ControlCallback control_cb,
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uintptr_t cb_handle,
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mixer_heli_s *mixer_info);
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~HelicopterMixer();
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/**
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* Factory method.
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*
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* Given a pointer to a buffer containing a text description of the mixer,
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* returns a pointer to a new instance of the mixer.
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*
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* @param control_cb The callback to invoke when fetching a
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* control value.
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* @param cb_handle Handle passed to the control callback.
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* @param buf Buffer containing a text description of
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* the mixer.
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* @param buflen Length of the buffer in bytes, adjusted
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* to reflect the bytes consumed.
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* @return A new HelicopterMixer instance, or nullptr
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* if the text format is bad.
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*/
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static HelicopterMixer *from_text(Mixer::ControlCallback control_cb,
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uintptr_t cb_handle,
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const char *buf,
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unsigned &buflen);
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virtual unsigned mix(float *outputs, unsigned space, uint16_t *status_reg);
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virtual void groups_required(uint32_t &groups);
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private:
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mixer_heli_s _mixer_info;
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/* do not allow to copy */
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HelicopterMixer(const HelicopterMixer &);
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HelicopterMixer operator=(const HelicopterMixer &);
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};
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#endif
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@ -197,6 +197,10 @@ MixerGroup::load_from_buf(const char *buf, unsigned &buflen)
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m = MultirotorMixer::from_text(_control_cb, _cb_handle, p, resid);
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break;
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case 'H':
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m = HelicopterMixer::from_text(_control_cb, _cb_handle, p, resid);
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break;
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default:
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/* it's probably junk or whitespace, skip a byte and retry */
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buflen--;
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@ -0,0 +1,283 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mixer_helicopter.cpp
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*
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* Helicopter mixers.
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*/
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#include <px4_config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <math.h>
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#include <px4iofirmware/protocol.h>
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#include "mixer.h"
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#define debug(fmt, args...) do { } while(0)
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//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
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//#include <debug.h>
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//#define debug(fmt, args...) lowsyslog(fmt "\n", ##args)
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namespace
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{
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float constrain(float val, float min, float max)
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{
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return (val < min) ? min : ((val > max) ? max : val);
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}
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} // anonymous namespace
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HelicopterMixer::HelicopterMixer(ControlCallback control_cb,
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uintptr_t cb_handle,
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mixer_heli_s *mixer_info) :
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Mixer(control_cb, cb_handle),
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_mixer_info(*mixer_info)
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{
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}
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HelicopterMixer::~HelicopterMixer()
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{
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}
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HelicopterMixer *
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HelicopterMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
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{
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mixer_heli_s mixer_info;
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unsigned swash_plate_servo_count = 0;
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unsigned u[5];
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int s[5];
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int used;
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/* enforce that the mixer ends with space or a new line */
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for (int i = buflen - 1; i >= 0; i--) {
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if (buf[i] == '\0') {
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continue;
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}
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/* require a space or newline at the end of the buffer, fail on printable chars */
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if (buf[i] == ' ' || buf[i] == '\n' || buf[i] == '\r') {
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/* found a line ending or space, so no split symbols / numbers. good. */
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break;
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} else {
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debug("simple parser rejected: No newline / space at end of buf. (#%d/%d: 0x%02x)", i, buflen - 1, buf[i]);
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return nullptr;
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}
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}
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if (sscanf(buf, "H: %u%n", &swash_plate_servo_count, &used) != 1) {
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debug("helicopter parse failed on '%s'", buf);
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return nullptr;
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}
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if (swash_plate_servo_count < 3 || swash_plate_servo_count > 4) {
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debug("only supporting swash plate with 3 or 4 servos");
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return nullptr;
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}
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if (used > (int)buflen) {
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debug("OVERFLOW: helicopter spec used %d of %u", used, buflen);
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return nullptr;
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}
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buf = skipline(buf, buflen);
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if (buf == nullptr) {
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debug("no line ending, line is incomplete");
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return nullptr;
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}
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buf = findtag(buf, buflen, 'T');
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if ((buf == nullptr) || (buflen < 12)) {
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debug("control parser failed finding tag, ret: '%s'", buf);
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return nullptr;
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}
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if (sscanf(buf, "T: %u %u %u %u %u",
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&u[0], &u[1], &u[2], &u[3], &u[4]) != 5) {
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debug("control parse failed on '%s'", buf);
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return nullptr;
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}
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for (unsigned i = 0; i < HELI_CURVES_NR_POINTS; i++) {
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mixer_info.throttle_curve[i] = ((float) u[i]) / 10000.0f;
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}
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buf = skipline(buf, buflen);
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if (buf == nullptr) {
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debug("no line ending, line is incomplete");
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return nullptr;
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}
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buf = findtag(buf, buflen, 'P');
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if ((buf == nullptr) || (buflen < 12)) {
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debug("control parser failed finding tag, ret: '%s'", buf);
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return nullptr;
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}
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if (sscanf(buf, "P: %d %d %d %d %d",
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&s[0], &s[1], &s[2], &s[3], &s[4]) != 5) {
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debug("control parse failed on '%s'", buf);
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return nullptr;
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}
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for (unsigned i = 0; i < HELI_CURVES_NR_POINTS; i++) {
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mixer_info.pitch_curve[i] = ((float) s[i]) / 10000.0f;
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}
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buf = skipline(buf, buflen);
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if (buf == nullptr) {
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debug("no line ending, line is incomplete");
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return nullptr;
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}
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mixer_info.control_count = swash_plate_servo_count;
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/* Now loop through the servos */
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for (unsigned i = 0; i < mixer_info.control_count; i++) {
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buf = findtag(buf, buflen, 'S');
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if ((buf == nullptr) || (buflen < 12)) {
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debug("control parser failed finding tag, ret: '%s'", buf);
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return nullptr;
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}
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if (sscanf(buf, "S: %u %u %d %d %d %d",
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&u[0],
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&u[1],
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&s[0],
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&s[1],
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&s[2],
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&s[3]) != 6) {
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debug("control parse failed on '%s'", buf);
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return nullptr;
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}
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mixer_info.servos[i].angle = ((float) u[0]) * M_PI_F / 180.0f;
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mixer_info.servos[i].arm_length = ((float) u[1]) / 10000.0f;
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mixer_info.servos[i].scale = ((float) s[0]) / 10000.0f;
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mixer_info.servos[i].offset = ((float) s[1]) / 10000.0f;
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mixer_info.servos[i].min_output = ((float) s[2]) / 10000.0f;
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mixer_info.servos[i].max_output = ((float) s[3]) / 10000.0f;
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buf = skipline(buf, buflen);
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if (buf == nullptr) {
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debug("no line ending, line is incomplete");
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return nullptr;
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}
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}
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debug("remaining in buf: %d, first char: %c", buflen, buf[0]);
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HelicopterMixer *hm = new HelicopterMixer(
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control_cb,
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cb_handle,
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&mixer_info);
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if (hm != nullptr) {
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debug("loaded heli mixer with %d swash plate input(s)", mixer_info.control_count);
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} else {
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debug("could not allocate memory for mixer");
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}
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return hm;
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}
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unsigned
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HelicopterMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
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{
|
||||
/* Find index to use for curves */
|
||||
float thrust_cmd = get_control(0, 3);
|
||||
int idx = (thrust_cmd / 0.25f);
|
||||
|
||||
/* Make sure idx is in range */
|
||||
if (idx < 0) { idx = 0; }
|
||||
|
||||
if (idx > HELI_CURVES_NR_POINTS - 1) { idx = HELI_CURVES_NR_POINTS - 1; }
|
||||
|
||||
/* Local throttle curve gradient and offset */
|
||||
float tg = (_mixer_info.throttle_curve[idx + 1] - _mixer_info.throttle_curve[idx]) / 0.25f;
|
||||
float to = (_mixer_info.throttle_curve[idx]) - (tg * idx * 0.25f);
|
||||
float throttle = constrain((tg * thrust_cmd + to), 0.0f, 1.0f);
|
||||
|
||||
/* Local pitch curve gradient and offset */
|
||||
float pg = (_mixer_info.pitch_curve[idx + 1] - _mixer_info.pitch_curve[idx]) / 0.25f;
|
||||
float po = (_mixer_info.pitch_curve[idx]) - (pg * idx * 0.25f);
|
||||
float collective_pitch = constrain((pg * thrust_cmd + po), -0.5f, 0.5f);
|
||||
|
||||
float roll_cmd = get_control(0, 0);
|
||||
float pitch_cmd = get_control(0, 1);
|
||||
|
||||
outputs[0] = throttle;
|
||||
|
||||
for (unsigned i = 0; i < _mixer_info.control_count; i++) {
|
||||
outputs[i + 1] = collective_pitch
|
||||
+ cosf(_mixer_info.servos[i].angle) * pitch_cmd * _mixer_info.servos[i].arm_length
|
||||
- sinf(_mixer_info.servos[i].angle) * roll_cmd * _mixer_info.servos[i].arm_length;
|
||||
outputs[i + 1] *= _mixer_info.servos[i].scale;
|
||||
outputs[i + 1] += _mixer_info.servos[i].offset;
|
||||
outputs[i + 1] = constrain(outputs[i + 1], _mixer_info.servos[i].min_output, _mixer_info.servos[i].max_output);
|
||||
}
|
||||
|
||||
return _mixer_info.control_count + 1;
|
||||
}
|
||||
|
||||
void
|
||||
HelicopterMixer::groups_required(uint32_t &groups)
|
||||
{
|
||||
/* XXX for now, hardcoded to indexes 0-3 in control group zero */
|
||||
groups |= (1 << 0);
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue