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commander: Add param and mode to disable RC input in general and required validation / setup.

This commit is contained in:
Lorenz Meier 2015-05-24 13:15:28 +02:00
parent b54d4f5b05
commit bed746c213
3 changed files with 22 additions and 5 deletions
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13
src/modules/commander/commander.cpp
View File

@ -828,6 +828,7 @@ int commander_thread_main(int argc, char *argv[])
param_t _param_ef_time_thres = param_find("COM_EF_TIME");
param_t _param_autostart_id = param_find("SYS_AUTOSTART");
param_t _param_autosave_params = param_find("COM_AUTOS_PAR");
param_t _param_rc_in_off = param_find("COM_RC_IN_OFF");
const char *main_states_str[vehicle_status_s::MAIN_STATE_MAX];
main_states_str[vehicle_status_s::MAIN_STATE_MANUAL] = "MANUAL";
@ -888,6 +889,7 @@ int commander_thread_main(int argc, char *argv[])
status.condition_landed = true; // initialize to safe value
// We want to accept RC inputs as default
status.rc_input_blocked = false;
status.rc_input_off = false;
status.main_state =vehicle_status_s::MAIN_STATE_MANUAL;
status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
status.arming_state = vehicle_status_s::ARMING_STATE_INIT;
@ -1132,7 +1134,7 @@ int commander_thread_main(int argc, char *argv[])
}
// Run preflight check
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_off, !status.circuit_breaker_engaged_gpsfailure_check);
if (!status.condition_system_sensors_initialized) {
set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
}
@ -1147,6 +1149,7 @@ int commander_thread_main(int argc, char *argv[])
int32_t datalink_loss_enabled = false;
int32_t datalink_loss_timeout = 10;
float rc_loss_timeout = 0.5;
int32_t rc_in_off = 0;
int32_t datalink_regain_timeout = 0;
/* Thresholds for engine failure detection */
@ -1233,6 +1236,8 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
param_get(_param_rc_loss_timeout, &rc_loss_timeout);
param_get(_param_rc_in_off, &rc_in_off);
status.rc_input_off = rc_in_off;
param_get(_param_datalink_regain_timeout, &datalink_regain_timeout);
param_get(_param_ef_throttle_thres, &ef_throttle_thres);
param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
@ -1305,7 +1310,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* provide RC and sensor status feedback to the user */
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, !status.rc_input_off, !status.circuit_breaker_engaged_gpsfailure_check);
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@ -1707,7 +1712,7 @@ int commander_thread_main(int argc, char *argv[])
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
/* RC input check */
if (!status.rc_input_blocked && sp_man.timestamp != 0 &&
if (!status.rc_input_off && !status.rc_input_blocked && sp_man.timestamp != 0 &&
hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
@ -2770,7 +2775,7 @@ void *commander_low_prio_loop(void *arg)
checkAirspeed = true;
}
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_off, !status.circuit_breaker_engaged_gpsfailure_check);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, mavlink_fd);

12
src/modules/commander/commander_params.c
View File

@ -195,3 +195,15 @@ PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
* @max 1
*/
PARAM_DEFINE_INT32(COM_AUTOS_PAR, 1);
/**
* Disable RC control input
*
* Setting this to 1 disables RC input handling and the associated checks. This is
* mainly inteded for pure offboard control or tablet control use.
*
* @group Commander
* @min 0
* @max 1
*/
PARAM_DEFINE_INT32(COM_RC_IN_OFF, 0);

2
src/modules/commander/state_machine_helper.cpp
View File

@ -692,5 +692,5 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
checkAirspeed = true;
}
return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status->circuit_breaker_engaged_gpsfailure_check, true);
return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status->rc_input_off, !status->circuit_breaker_engaged_gpsfailure_check, true);
}