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rc_update: introduce support for toggle buttons via RC channels 

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2021-03-30 14:20:47 +02:00 committed by Matthias Grob
parent ca2d8f6de2
commit c50daae4a3
4 changed files with 132 additions and 3 deletions
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9
msg/rc_channels.msg
View File

@ -26,11 +26,18 @@ uint8 FUNCTION_ARMSWITCH = 22
uint8 FUNCTION_STAB = 23
uint8 FUNCTION_AUX_6 = 24
uint8 FUNCTION_MAN = 25
uint8 FUNCTION_FLTBTN_SLOT_1=26
uint8 FUNCTION_FLTBTN_SLOT_2=27
uint8 FUNCTION_FLTBTN_SLOT_3=28
uint8 FUNCTION_FLTBTN_SLOT_4=39
uint8 FUNCTION_FLTBTN_SLOT_5=30
uint8 FUNCTION_FLTBTN_SLOT_6=31
uint8 FUNCTION_FLTBTN_NUM_SLOTS=6
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[26] function # Functions mapping
int8[32] function # Functions mapping
uint8 rssi # Receive signal strength index
bool signal_lost # Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count # Number of dropped frames

36
src/modules/rc_update/params.c
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@ -1701,6 +1701,42 @@ PARAM_DEFINE_INT32(RC_MAP_STAB_SW, 0);
*/
PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0);
/**
* Enables changing flight modes with multiple toggle buttons.
*
* This bitmask allows to specify multiple channels for changing flight modes.
* Each channel is assigned to a flight mode slot ((lowest channel = slot 1),
* the behavior of each flight mode is defined by the COM_FLTMODE1,COM_FLTMODE2,...
* parameters.
* The functionality can be used only if RC_MAP_FLTMODE is disabled.
*
* The maximum number of available slots is 6.
* @min 0
* @max 258048
* @group Radio Switches
* @bit 0 Enable Channel 1 as toggle button
* @bit 1 Enable Channel 2 as toggle button
* @bit 2 Enable Channel 3 as toggle button
* @bit 3 Enable Channel 4 as toggle button
* @bit 4 Enable Channel 5 as toggle button
* @bit 5 Enable Channel 6 as toggle button
* @bit 6 Enable Channel 7 as toggle button
* @bit 7 Enable Channel 8 as toggle button
* @bit 8 Enable Channel 9 as toggle button
* @bit 9 Enable Channel 10 as toggle button
* @bit 10 Enable Channel 11 as toggle button
* @bit 11 Enable Channel 12 as toggle button
* @bit 12 Enable Channel 13 as toggle button
* @bit 13 Enable Channel 14 as toggle button
* @bit 14 Enable Channel 15 as toggle button
* @bit 15 Enable Channel 16 as toggle button
* @bit 16 Enable Channel 17 as toggle button
* @bit 17 Enable Channel 18 as toggle button
*
*/
PARAM_DEFINE_INT32(RC_MAP_FLTM_BTN, 0);
/**
* AUX1 Passthrough RC channel
*

82
src/modules/rc_update/rc_update.cpp
View File

@ -202,6 +202,8 @@ void RCUpdate::update_rc_functions()
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
_rc.function[rc_channels_s::FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
}
map_flight_modes_buttons();
}
void RCUpdate::rc_parameter_map_poll(bool forced)
@ -276,6 +278,42 @@ void RCUpdate::set_params_from_rc()
}
}
void
RCUpdate::map_flight_modes_buttons()
{
static_assert(rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + manual_control_switches_s::MODE_SLOT_NUM <= sizeof(
_rc.function) / sizeof(_rc.function[0]), "Unexpected number of RC functions");
static_assert(rc_channels_s::FUNCTION_FLTBTN_NUM_SLOTS == manual_control_switches_s::MODE_SLOT_NUM,
"Unexpected number of Flight Modes slots");
// Reset all the slots to -1
for (uint8_t index = 0; index < manual_control_switches_s::MODE_SLOT_NUM; index++) {
_rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + index] = -1;
}
// If the functionality is disabled we can early return, no need to map channels
int buttons_rc_channels = _param_rc_map_flightmode_buttons.get();
if (buttons_rc_channels == 0) {
return;
}
uint8_t slot_counter = 0;
for (uint8_t index = 0; index < RC_MAX_CHAN_COUNT; index++) {
if (buttons_rc_channels & (1 << index)) {
PX4_DEBUG("Slot %d assigned to channel %d", slot_counter + 1, index);
_rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot_counter] = index;
slot_counter++;
}
if (slot_counter == manual_control_switches_s::MODE_SLOT_NUM) {
// we have filled all the available slots
break;
}
}
}
void RCUpdate::Run()
{
if (should_exit()) {
@ -427,9 +465,18 @@ void RCUpdate::Run()
}
}
/*
* some RC systems glitch after a reboot, we should ignore the first 100ms of regained signal
* as the glitch might be interpreted as a commanded stick action or a flight mode switch
*
*/
_rc_signal_lost_hysteresis.set_hysteresis_time_from(true, 100_ms);
_rc_signal_lost_hysteresis.set_state_and_update(signal_lost, hrt_absolute_time());
_rc.channel_count = input_rc.channel_count;
_rc.rssi = input_rc.rssi;
_rc.signal_lost = signal_lost;
_rc.signal_lost = _rc_signal_lost_hysteresis.get_state();
_rc.timestamp = input_rc.timestamp_last_signal;
_rc.frame_drop_count = input_rc.rc_lost_frame_count;
@ -437,7 +484,7 @@ void RCUpdate::Run()
_rc_channels_pub.publish(_rc);
// only publish manual control if the signal is present and regularly updating
if (input_source_stable && channel_count_stable && !signal_lost) {
if (input_source_stable && channel_count_stable && !_rc_signal_lost_hysteresis.get_state()) {
if ((input_rc.timestamp_last_signal > _last_timestamp_signal)
&& (input_rc.timestamp_last_signal - _last_timestamp_signal < 1_s)) {
@ -557,6 +604,37 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
switches.acro_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_ACRO, _param_rc_acro_th.get());
switches.stab_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_STAB, _param_rc_stab_th.get());
switches.posctl_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_POSCTL, _param_rc_posctl_th.get());
} else if (_param_rc_map_flightmode_buttons.get() > 0) {
switches.mode_slot = manual_control_switches_s::MODE_SLOT_NONE;
bool is_consistent_button_press = false;
for (uint8_t index = 0; index < manual_control_switches_s::MODE_SLOT_NUM; index++) {
// If the slot is not in use (-1), get_rc_value() will return 0
float value = get_rc_value(rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + index, -1.0, 1.0);
// The range goes from -1 to 1, checking that value is greater than 0.5f
// corresponds to check that the signal is above 75% of the overall range.
if (value > 0.5f) {
const uint8_t current_button_press_slot = index + 1;
// The same button stays pressed consistently
if (current_button_press_slot == _potential_button_press_slot) {
is_consistent_button_press = true;
}
_potential_button_press_slot = current_button_press_slot;
break;
}
}
_button_pressed_hysteresis.set_hysteresis_time_from(false, 50_ms);
_button_pressed_hysteresis.set_state_and_update(is_consistent_button_press, hrt_absolute_time());
if (_button_pressed_hysteresis.get_state()) {
switches.mode_slot = _potential_button_press_slot;
}
}
switches.return_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_RETURN, _param_rc_return_th.get());

8
src/modules/rc_update/rc_update.h
View File

@ -59,6 +59,7 @@
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/parameter_update.h>
#include <hysteresis/hysteresis.h>
using namespace time_literals;
@ -130,6 +131,8 @@ private:
*/
void set_params_from_rc();
void map_flight_modes_buttons();
static constexpr uint8_t RC_MAX_CHAN_COUNT{input_rc_s::RC_INPUT_MAX_CHANNELS}; /**< maximum number of r/c channels we handle */
struct Parameters {
@ -186,6 +189,10 @@ private:
uint8_t _channel_count_previous{0};
uint8_t _input_source_previous{input_rc_s::RC_INPUT_SOURCE_UNKNOWN};
uint8_t _potential_button_press_slot{0};
systemlib::Hysteresis _button_pressed_hysteresis{false};
systemlib::Hysteresis _rc_signal_lost_hysteresis{true};
uint8_t _channel_count_max{0};
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
@ -216,6 +223,7 @@ private:
(ParamInt<px4::params::RC_MAP_GEAR_SW>) _param_rc_map_gear_sw,
(ParamInt<px4::params::RC_MAP_STAB_SW>) _param_rc_map_stab_sw,
(ParamInt<px4::params::RC_MAP_MAN_SW>) _param_rc_map_man_sw,
(ParamInt<px4::params::RC_MAP_FLTM_BTN>) _param_rc_map_flightmode_buttons,
(ParamInt<px4::params::RC_MAP_AUX1>) _param_rc_map_aux1,
(ParamInt<px4::params::RC_MAP_AUX2>) _param_rc_map_aux2,