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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-01 16:30:21 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-01 16:30:21 +0100 |
| commit | 126e6ac2073ffb96c3867e7cbdd4e51e8408d0ec (patch) | |
| tree | 277f05a93bea57ada888302829f716dc46dd92ef /apps/px4io/controls.c | |
| parent | 2bfb6727912e804325e5a512c9c09d36e8fe06d3 (diff) | |
| download | px4-firmware-126e6ac2073ffb96c3867e7cbdd4e51e8408d0ec.tar.gz px4-firmware-126e6ac2073ffb96c3867e7cbdd4e51e8408d0ec.tar.bz2 px4-firmware-126e6ac2073ffb96c3867e7cbdd4e51e8408d0ec.zip | |
Enabled manual override switch, work in progress. Added initial demix testing code to support delta mixing on the remote for convenient manual override
Diffstat (limited to 'apps/px4io/controls.c')
| -rw-r--r-- | apps/px4io/controls.c | 21 |
1 files changed, 20 insertions, 1 deletions
diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c index d4eace3df..0e0210373 100644 --- a/apps/px4io/controls.c +++ b/apps/px4io/controls.c @@ -59,6 +59,10 @@ #define DEBUG #include "px4io.h" +#define RC_FAILSAFE_TIMEOUT 2000000 /**< two seconds failsafe timeout */ +#define RC_CHANNEL_HIGH_THRESH 1600 +#define RC_CHANNEL_LOW_THRESH 1400 + void controls_main(void) { @@ -80,7 +84,22 @@ controls_main(void) if (fds[1].revents & POLLIN) sbus_input(); - /* XXX do ppm processing, bypass mode, etc. here */ + /* force manual input override */ + if (system_state.rc_channel_data[4] > RC_CHANNEL_HIGH_THRESH) { + system_state.mixer_use_fmu = false; + } else { + /* override not engaged, use FMU */ + system_state.mixer_use_fmu = true; + } + + /* detect rc loss event */ + if (hrt_absolute_time() - system_state.rc_channels_timestamp > RC_FAILSAFE_TIMEOUT) { + system_state.rc_lost = true; + } + + /* XXX detect fmu loss event */ + + /* XXX handle failsave events - RC loss and FMU loss - here */ /* do PWM output updates */ mixer_tick(); |