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px4-firmware
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Fixes from/inspired by Tridge; enable all mapped R/C inputs, fix various logic errors, be more selective about clearing the RC input type flags for debugging purposes.

This commit is contained in:
px4dev 2013-01-26 00:02:45 -08:00
parent 5fe376c7b9
commit f854e2f791
1 changed files with 22 additions and 10 deletions
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32
apps/px4io/controls.c
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@ -70,7 +70,7 @@ controls_main(void)
ASSERT(fds[0].fd >= 0);
ASSERT(fds[1].fd >= 0);
/* default to a 1:1 input map */
/* default to a 1:1 input map, all enabled */
for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
@ -80,6 +80,7 @@ controls_main(void)
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MAX] = 2000;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_DEADZONE] = 30;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_ASSIGNMENT] = i;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
}
for (;;) {
@ -124,7 +125,7 @@ controls_main(void)
/*
* If we received a new frame from any of the RC sources, process it.
*/
if (dsm_updated | sbus_updated | ppm_updated) {
if (dsm_updated || sbus_updated || ppm_updated) {
/* update RC-received timestamp */
system_state.rc_channels_timestamp = hrt_absolute_time();
@ -139,7 +140,7 @@ controls_main(void)
/* map the input channel */
uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] && PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
uint16_t raw = r_raw_rc_values[i];
@ -193,6 +194,9 @@ controls_main(void)
/*
* If we got an update with zero channels, treat it as
* a loss of input.
*
* This might happen if a protocol-based receiver returns an update
* that contains no channels that we have mapped.
*/
if (assigned_channels == 0)
rc_input_lost = true;
@ -209,6 +213,12 @@ controls_main(void)
*/
if ((hrt_absolute_time() - system_state.rc_channels_timestamp) > 200000) {
rc_input_lost = true;
/* clear the input-kind flags here */
r_status_flags &= ~(
PX4IO_P_STATUS_FLAGS_RC_PPM |
PX4IO_P_STATUS_FLAGS_RC_DSM |
PX4IO_P_STATUS_FLAGS_RC_SBUS);
}
/*
@ -216,13 +226,10 @@ controls_main(void)
*/
if (rc_input_lost) {
/* Clear the RC input status flags, clear manual override control */
/* Clear the RC input status flag, clear manual override flag */
r_status_flags &= ~(
PX4IO_P_STATUS_FLAGS_OVERRIDE |
PX4IO_P_STATUS_FLAGS_RC_OK |
PX4IO_P_STATUS_FLAGS_RC_PPM |
PX4IO_P_STATUS_FLAGS_RC_DSM |
PX4IO_P_STATUS_FLAGS_RC_SBUS);
PX4IO_P_STATUS_FLAGS_RC_OK);
/* Set the RC_LOST alarm */
r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST;
@ -247,6 +254,8 @@ controls_main(void)
/*
* Check mapped channel 5; if the value is 'high' then the pilot has
* requested override.
*
* XXX This should be configurable.
*/
if ((r_rc_valid & (1 << 4)) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH))
override = true;
@ -283,12 +292,12 @@ ppm_input(uint16_t *values, uint16_t *num_values)
irqstate_t state = irqsave();
/*
* Look for recent PPM input.
* If we have received a new PPM frame within the last 200ms, accept it
* and then invalidate it.
*/
if ((hrt_absolute_time() - ppm_last_valid_decode) < 200000) {
/* PPM data exists, copy it */
result = true;
*num_values = ppm_decoded_channels;
if (*num_values > MAX_CONTROL_CHANNELS)
*num_values = MAX_CONTROL_CHANNELS;
@ -298,6 +307,9 @@ ppm_input(uint16_t *values, uint16_t *num_values)
/* clear validity */
ppm_last_valid_decode = 0;
/* good if we got any channels */
result = (*num_values > 0);
}
irqrestore(state);