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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 08:14:13 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 08:14:13 +0200 |
commit | 5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe (patch) | |
tree | 5f024477d370d92edacead7412f60f6757cbf082 /src/modules/px4iofirmware/mixer.cpp | |
parent | e44d134c6c64535f67e26f9633206aba50a10613 (diff) | |
parent | 66c61fbe96e11ee7099431a8370d84f862543810 (diff) | |
download | px4-firmware-5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe.tar.gz px4-firmware-5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe.tar.bz2 px4-firmware-5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe.zip |
Merged multirotor branch
Diffstat (limited to 'src/modules/px4iofirmware/mixer.cpp')
-rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 153 |
1 files changed, 123 insertions, 30 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index a2193b526..deed25836 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -59,6 +59,12 @@ extern "C" { */ #define FMU_INPUT_DROP_LIMIT_US 200000 +/* + * Time that the ESCs need to initialize + */ + #define ESC_INIT_TIME_US 1000000 + #define ESC_RAMP_TIME_US 2000000 + /* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */ #define ROLL 0 #define PITCH 1 @@ -68,6 +74,17 @@ extern "C" { /* current servo arm/disarm state */ static bool mixer_servos_armed = false; +static bool should_arm = false; +static bool should_always_enable_pwm = false; +static uint64_t esc_init_time; + +enum esc_state_e { + ESC_OFF, + ESC_INIT, + ESC_RAMP, + ESC_ON +}; +static esc_state_e esc_state; /* selected control values and count for mixing */ enum mixer_source { @@ -98,7 +115,7 @@ mixer_tick(void) if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { isr_debug(1, "AP RX timeout"); } - r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM); + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK); r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; } else { @@ -112,12 +129,11 @@ mixer_tick(void) * Decide which set of controls we're using. */ - /* do not mix if mixer is invalid or if RAW_PWM mode is on and FMU is good */ + /* do not mix if RAW_PWM mode is on and FMU is good */ if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) && - !(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) { - /* don't actually mix anything - we already have raw PWM values or - not a valid mixer. */ + /* don't actually mix anything - we already have raw PWM values */ source = MIX_NONE; } else { @@ -132,7 +148,8 @@ mixer_tick(void) if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) && + !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)) { /* if allowed, mix from RC inputs directly */ source = MIX_OVERRIDE; @@ -154,7 +171,7 @@ mixer_tick(void) if (source == MIX_FAILSAFE) { /* copy failsafe values to the servo outputs */ - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) { + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { r_page_servos[i] = r_page_servo_failsafe[i]; /* safe actuators for FMU feedback */ @@ -164,11 +181,53 @@ mixer_tick(void) } else if (source != MIX_NONE) { - float outputs[IO_SERVO_COUNT]; + float outputs[PX4IO_SERVO_COUNT]; unsigned mixed; + uint16_t ramp_promille; + + /* update esc init state, but only if we are truely armed and not just PWM enabled */ + if (mixer_servos_armed && should_arm) { + + switch (esc_state) { + + /* after arming, some ESCs need an initalization period, count the time from here */ + case ESC_OFF: + esc_init_time = hrt_absolute_time(); + esc_state = ESC_INIT; + break; + + /* after waiting long enough for the ESC initialization, we can start with the ramp to start the ESCs */ + case ESC_INIT: + if (hrt_elapsed_time(&esc_init_time) > ESC_INIT_TIME_US) { + esc_state = ESC_RAMP; + } + break; + + /* then ramp until the min speed is reached */ + case ESC_RAMP: + if (hrt_elapsed_time(&esc_init_time) > (ESC_INIT_TIME_US + ESC_RAMP_TIME_US)) { + esc_state = ESC_ON; + } + break; + + case ESC_ON: + default: + + break; + } + } else { + esc_state = ESC_OFF; + } + + /* do the calculations during the ramp for all at once */ + if(esc_state == ESC_RAMP) { + ramp_promille = (1000*(hrt_elapsed_time(&esc_init_time)-ESC_INIT_TIME_US))/ESC_RAMP_TIME_US; + } + + /* mix */ - mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT); + mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT); /* scale to PWM and update the servo outputs as required */ for (unsigned i = 0; i < mixed; i++) { @@ -176,11 +235,29 @@ mixer_tick(void) /* save actuator values for FMU readback */ r_page_actuators[i] = FLOAT_TO_REG(outputs[i]); - /* scale to servo output */ - r_page_servos[i] = (outputs[i] * 600.0f) + 1500; - + switch (esc_state) { + case ESC_INIT: + r_page_servos[i] = (outputs[i] * 600 + 1500); + break; + + case ESC_RAMP: + r_page_servos[i] = (outputs[i] + * (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*2100 - ramp_promille*r_page_servo_control_min[i] - (1000-ramp_promille)*900)/2/1000 + + (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*2100 + ramp_promille*r_page_servo_control_min[i] + (1000-ramp_promille)*900)/2/1000); + break; + + case ESC_ON: + r_page_servos[i] = (outputs[i] + * (r_page_servo_control_max[i] - r_page_servo_control_min[i])/2 + + (r_page_servo_control_max[i] + r_page_servo_control_min[i])/2); + break; + + case ESC_OFF: + default: + break; + } } - for (unsigned i = mixed; i < IO_SERVO_COUNT; i++) + for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) r_page_servos[i] = 0; } @@ -193,30 +270,46 @@ mixer_tick(void) * XXX correct behaviour for failsafe may require an additional case * here. */ - bool should_arm = ( - /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && - /* there is valid input via direct PWM or mixer */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) && - /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) && - /* FMU is available or FMU is not available but override is an option */ - ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) )) + should_arm = ( + /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) + /* and IO is armed */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) + /* and FMU is armed */ && ( + ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) + /* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ) + /* or direct PWM is set */ || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) + /* or failsafe was set manually */ || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) + ) ); - if (should_arm && !mixer_servos_armed) { + should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) + && (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) + && (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK); + + if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) { /* need to arm, but not armed */ up_pwm_servo_arm(true); mixer_servos_armed = true; + r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED; + isr_debug(5, "> PWM enabled"); - } else if (!should_arm && mixer_servos_armed) { + } else if ((!should_arm && !should_always_enable_pwm) && mixer_servos_armed) { /* armed but need to disarm */ up_pwm_servo_arm(false); mixer_servos_armed = false; + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED); + isr_debug(5, "> PWM disabled"); + } - if (mixer_servos_armed) { + if (mixer_servos_armed && should_arm) { /* update the servo outputs. */ - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) up_pwm_servo_set(i, r_page_servos[i]); + + } else if (mixer_servos_armed && should_always_enable_pwm) { + /* set the idle servo outputs. */ + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) + up_pwm_servo_set(i, r_page_servo_idle[i]); } } @@ -265,9 +358,8 @@ static unsigned mixer_text_length = 0; void mixer_handle_text(const void *buffer, size_t length) { - /* do not allow a mixer change while fully armed */ - if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + /* do not allow a mixer change while outputs armed */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { return; } @@ -344,16 +436,17 @@ mixer_set_failsafe() * Check if a custom failsafe value has been written, * or if the mixer is not ok and bail out. */ + if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) || !(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) return; /* set failsafe defaults to the values for all inputs = 0 */ - float outputs[IO_SERVO_COUNT]; + float outputs[PX4IO_SERVO_COUNT]; unsigned mixed; /* mix */ - mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT); + mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT); /* scale to PWM and update the servo outputs as required */ for (unsigned i = 0; i < mixed; i++) { @@ -364,7 +457,7 @@ mixer_set_failsafe() } /* disable the rest of the outputs */ - for (unsigned i = mixed; i < IO_SERVO_COUNT; i++) + for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) r_page_servo_failsafe[i] = 0; } |