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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-29 12:21:34 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-29 12:21:34 +0100 |
commit | 35b81c2f74f7c135d0d7b68b14fc8110c963dead (patch) | |
tree | 9b7005d79bfa910d5948801131fc466cd40d04cb | |
parent | 60728bb6a6211407a1db12e7c015272cf998d928 (diff) | |
parent | 9b1de5004c673ebe8bdf68f1b518565cccd6b05b (diff) | |
download | px4-firmware-35b81c2f74f7c135d0d7b68b14fc8110c963dead.tar.gz px4-firmware-35b81c2f74f7c135d0d7b68b14fc8110c963dead.tar.bz2 px4-firmware-35b81c2f74f7c135d0d7b68b14fc8110c963dead.zip |
Merge branch 'master' of github.com:PX4/Firmware into paul_estimator_numeric
-rw-r--r-- | src/modules/commander/commander.cpp | 11 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 93 |
2 files changed, 73 insertions, 31 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index d114a2e5c..cf7ba757e 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -119,6 +119,7 @@ extern struct system_load_s system_load; #define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */ #define RC_TIMEOUT 100000 +#define RC_TIMEOUT_HIL 500000 #define DIFFPRESS_TIMEOUT 2000000 #define PRINT_INTERVAL 5000000 @@ -1108,8 +1109,16 @@ int commander_thread_main(int argc, char *argv[]) } } + + /* + * XXX workaround: + * Prevent RC loss in HIL when sensors.cpp is only publishing sp_man at a low rate (e.g. 30Hz) + * which can trigger RC loss if the computer/simulator lags. + */ + uint64_t rc_timeout = status.hil_state == HIL_STATE_ON ? RC_TIMEOUT_HIL : RC_TIMEOUT; + /* start RC input check */ - if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) { + if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + rc_timeout) { /* handle the case where RC signal was regained */ if (!status.rc_signal_found_once) { status.rc_signal_found_once = true; diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 96852bb0e..4ca3840d4 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -71,6 +71,7 @@ #include <uORB/topics/battery_status.h> #include <uORB/topics/navigation_capabilities.h> #include <drivers/drv_rc_input.h> +#include <drivers/drv_pwm_output.h> #include "mavlink_messages.h" @@ -788,47 +789,79 @@ protected: uint32_t mavlink_custom_mode; get_mavlink_mode_state(status, pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); - /* set number of valid outputs depending on vehicle type */ - unsigned n; + 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 */ + unsigned n; - switch (mavlink_system.type) { - case MAV_TYPE_QUADROTOR: - n = 4; - break; + switch (mavlink_system.type) { + case MAV_TYPE_QUADROTOR: + n = 4; + break; - case MAV_TYPE_HEXAROTOR: - n = 6; - break; + case MAV_TYPE_HEXAROTOR: + n = 6; + break; - default: - n = 8; - break; - } + default: + n = 8; + break; + } - /* scale / assign outputs depending on system type */ - float out[8]; + /* 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 -1..1*/ - out[i] = (act->output[i] - 1500.0f) / 600.0f; + 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 */ + out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN); + + } else { + /* send 0 when disarmed */ + out[i] = 0.0f; + } } else { - /* send 0 when disarmed */ - out[i] = 0.0f; + out[i] = -1.0f; + } + } + + 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; + + for (unsigned i = 0; i < 8; i++) { + if (i != 3) { + /* scale fake 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 */ + out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN); } - } else { - out[i] = -1.0f; } - } - 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); + 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); + } } } }; |