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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-10 21:49:50 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-10 21:49:50 +0200 |
commit | 0baa7927fafbba714aa942f73c8bf86721b9ddf3 (patch) | |
tree | ee6896a42084e10637008b425502da0661b27b44 | |
parent | 5bb8c501122de7daece58c5770b6aca13c0066cd (diff) | |
parent | dca8daeec54624001f02acb7ad6f4c2d7304a5fb (diff) | |
download | px4-firmware-0baa7927fafbba714aa942f73c8bf86721b9ddf3.tar.gz px4-firmware-0baa7927fafbba714aa942f73c8bf86721b9ddf3.tar.bz2 px4-firmware-0baa7927fafbba714aa942f73c8bf86721b9ddf3.zip |
Merge pull request #1162 from PX4/hil_outs_fix
mavlink: use all outputs in HIL mode
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 55 |
1 files changed, 23 insertions, 32 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 667be87b7..c7ad605c5 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1051,10 +1051,16 @@ protected: uint32_t mavlink_custom_mode; get_mavlink_mode_state(&status, &pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); + float out[8]; + + const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2; + + /* scale outputs depending on system type */ if (mavlink_system.type == MAV_TYPE_QUADROTOR || mavlink_system.type == MAV_TYPE_HEXAROTOR || mavlink_system.type == MAV_TYPE_OCTOROTOR) { - /* set number of valid outputs depending on vehicle type */ + /* multirotors: set number of rotor outputs depending on type */ + unsigned n; switch (mavlink_system.type) { @@ -1071,59 +1077,44 @@ protected: break; } - /* scale / assign outputs depending on system type */ - float out[8]; - for (unsigned i = 0; i < 8; i++) { - if (i < n) { - if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { - /* scale fake PWM out 900..2100 us to 0..1 for normal multirotors */ + if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) { + if (i < n) { + /* scale PWM out 900..2100 us to 0..1 for rotors */ out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN); } else { - /* send 0 when disarmed */ - out[i] = 0.0f; + /* scale PWM out 900..2100 us to -1..1 for other channels */ + out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2); } } else { - out[i] = -1.0f; + /* send 0 when disarmed */ + out[i] = 0.0f; } } - mavlink_msg_hil_controls_send(_channel, - hrt_absolute_time(), - out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7], - mavlink_base_mode, - 0); } else { - - /* fixed wing: scale all channels except throttle -1 .. 1 - * because we know that we set the mixers up this way - */ - - float out[8]; - - const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2; + /* fixed wing: scale throttle to 0..1 and other channels to -1..1 */ for (unsigned i = 0; i < 8; i++) { if (i != 3) { - /* scale fake PWM out 900..2100 us to -1..+1 for normal channels */ + /* scale PWM out 900..2100 us to -1..1 for normal channels */ out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2); } else { - - /* scale fake PWM out 900..2100 us to 0..1 for throttle */ + /* scale PWM out 900..2100 us to 0..1 for throttle */ out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN); } } - - mavlink_msg_hil_controls_send(_channel, - hrt_absolute_time(), - out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7], - mavlink_base_mode, - 0); } + + mavlink_msg_hil_controls_send(_channel, + hrt_absolute_time(), + out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7], + mavlink_base_mode, + 0); } } }; |