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author | Julian Oes <joes@student.ethz.ch> | 2012-12-23 17:20:53 -0800 |
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committer | Julian Oes <joes@student.ethz.ch> | 2012-12-23 17:20:53 -0800 |
commit | d4edf2e85c4238387872eb5ee6bc1187117a280d (patch) | |
tree | 97a42391481770a10718366e819a3b6e36fb1e1c /apps | |
parent | 8053b4b9f78020ba569e37207800250348eba92b (diff) | |
download | px4-firmware-d4edf2e85c4238387872eb5ee6bc1187117a280d.tar.gz px4-firmware-d4edf2e85c4238387872eb5ee6bc1187117a280d.tar.bz2 px4-firmware-d4edf2e85c4238387872eb5ee6bc1187117a280d.zip |
Override is now really disabled for multirotors, also I don't think the parameter got ever read by the commander but I might be wrong
Diffstat (limited to 'apps')
-rw-r--r-- | apps/commander/commander.c | 7 | ||||
-rw-r--r-- | apps/px4io/mixer.c | 53 |
2 files changed, 37 insertions, 23 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 5dfdf83ad..bdf1976b7 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1293,6 +1293,8 @@ int commander_thread_main(int argc, char *argv[]) uint64_t failsave_ll_start_time = 0; bool state_changed = true; + bool param_init_forced = true; + while (!thread_should_exit) { @@ -1323,10 +1325,10 @@ int commander_thread_main(int argc, char *argv[]) /* handle it */ handle_command(stat_pub, ¤t_status, &cmd); } - /* update parameters */ orb_check(param_changed_sub, &new_data); - if (new_data) { + if (new_data || param_init_forced) { + param_init_forced = false; /* parameters changed */ orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); @@ -1335,7 +1337,6 @@ int commander_thread_main(int argc, char *argv[]) if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { warnx("failed setting new system type"); } - /* disable manual override for all systems that rely on electronic stabilization */ if (current_status.system_type == MAV_TYPE_QUADROTOR || current_status.system_type == MAV_TYPE_HEXAROTOR || diff --git a/apps/px4io/mixer.c b/apps/px4io/mixer.c index 135d97bb3..9cdb98e23 100644 --- a/apps/px4io/mixer.c +++ b/apps/px4io/mixer.c @@ -84,32 +84,45 @@ mixer_tick(void) int i; bool should_arm; + /* check that we are receiving fresh data from the FMU */ + if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { + /* too many frames without FMU input, time to go to failsafe */ + system_state.mixer_manual_override = true; + system_state.mixer_fmu_available = false; + lib_lowprintf("\nRX timeout\n"); + } + /* * Decide which set of inputs we're using. */ - if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) { - /* we have recent control data from the FMU */ - control_count = PX4IO_OUTPUT_CHANNELS; - control_values = &system_state.fmu_channel_data[0]; - - /* check that we are receiving fresh data from the FMU */ - if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { - - /* too many frames without FMU input, time to go to failsafe */ - system_state.mixer_manual_override = true; - system_state.mixer_fmu_available = false; - lib_lowprintf("\nRX timeout\n"); + /* this is for planes, where manual override makes sense */ + if(system_state.manual_override_ok) { + /* if everything is ok */ + if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) { + /* we have recent control data from the FMU */ + control_count = PX4IO_OUTPUT_CHANNELS; + control_values = &system_state.fmu_channel_data[0]; + /* when override is on or the fmu is not available */ + } else if (system_state.rc_channels > 0) { + control_count = system_state.rc_channels; + control_values = &system_state.rc_channel_data[0]; + } else { + /* we have no control input (no FMU, no RC) */ + + // XXX builtin failsafe would activate here + control_count = 0; } - } else if (system_state.rc_channels > 0 && system_state.manual_override_ok) { - /* we have control data from an R/C input */ - control_count = system_state.rc_channels; - control_values = &system_state.rc_channel_data[0]; + /* this is for multicopters, etc. where manual override does not make sense */ } else { - /* we have no control input (no FMU, no RC) */ - - // XXX builtin failsafe would activate here - control_count = 0; + /* if the fmu is available whe are good */ + if(system_state.mixer_fmu_available) { + control_count = PX4IO_OUTPUT_CHANNELS; + control_values = &system_state.fmu_channel_data[0]; + /* we better shut everything off */ + } else { + control_count = 0; + } } /* |