Improved RC calibration behaviour, fully supported setting trim offsets

6 files changed, 56 insertions, 17 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 2a2bcca72..9211a512e 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -214,7 +214,7 @@ void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicl
 
 transition_result_t check_main_state_machine(struct vehicle_status_s *current_status);
 
-void print_reject_mode(const char *msg);
+void print_reject_mode(struct vehicle_status_s *current_status, const char *msg);
 
 void print_reject_arm(const char *msg);
 
@@ -620,6 +620,8 @@ int commander_thread_main(int argc, char *argv[])
 	/* make sure we are in preflight state */
 	memset(&status, 0, sizeof(status));
 	status.condition_landed = true;	// initialize to safe value
+	// We want to accept RC inputs as default
+	status.rc_input_blocked = false;
 
 	/* armed topic */
 	orb_advert_t armed_pub;
@@ -1076,7 +1078,7 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* ignore RC signals if in offboard control mode */
-		if (!status.offboard_control_signal_found_once && sp_man.timestamp != 0) {
+		if (!status.offboard_control_signal_found_once && sp_man.timestamp != 0 && !status.rc_input_blocked) {
 			/* start RC input check */
 			if (hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
 				/* handle the case where RC signal was regained */
@@ -1470,7 +1472,7 @@ check_main_state_machine(struct vehicle_status_s *current_status)
 				break;	// changed successfully or already in this state
 
 			// else fallback to SEATBELT
-			print_reject_mode("EASY");
+			print_reject_mode(current_status, "EASY");
 		}
 
 		res = main_state_transition(current_status, MAIN_STATE_SEATBELT);
@@ -1479,7 +1481,7 @@ check_main_state_machine(struct vehicle_status_s *current_status)
 			break;	// changed successfully or already in this mode
 
 		if (current_status->assisted_switch != ASSISTED_SWITCH_EASY)	// don't print both messages
-			print_reject_mode("SEATBELT");
+			print_reject_mode(current_status, "SEATBELT");
 
 		// else fallback to MANUAL
 		res = main_state_transition(current_status, MAIN_STATE_MANUAL);
@@ -1493,7 +1495,7 @@ check_main_state_machine(struct vehicle_status_s *current_status)
 			break;	// changed successfully or already in this state
 
 		// else fallback to SEATBELT (EASY likely will not work too)
-		print_reject_mode("AUTO");
+		print_reject_mode(current_status, "AUTO");
 		res = main_state_transition(current_status, MAIN_STATE_SEATBELT);
 
 		if (res != TRANSITION_DENIED)
@@ -1512,16 +1514,25 @@ check_main_state_machine(struct vehicle_status_s *current_status)
 }
 
 void
-print_reject_mode(const char *msg)
+print_reject_mode(struct vehicle_status_s *current_status, const char *msg)
 {
 	hrt_abstime t = hrt_absolute_time();
 
 	if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
 		last_print_mode_reject_time = t;
 		char s[80];
-		sprintf(s, "#audio: warning: reject %s", msg);
+		sprintf(s, "#audio: REJECT %s", msg);
 		mavlink_log_critical(mavlink_fd, s);
-		tune_negative();
+
+		// only buzz if armed, because else we're driving people nuts indoors
+		// they really need to look at the leds as well.
+		if (current_status->arming_state == ARMING_STATE_ARMED) {
+			tune_negative();
+		} else {
+
+			// Always show the led indication
+			led_negative();
+		}
 	}
 }
 
@@ -1795,7 +1806,15 @@ void *commander_low_prio_loop(void *arg)
 				} else if ((int)(cmd.param4) == 1) {
 					/* RC calibration */
 					answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
-					calib_ret = do_rc_calibration(mavlink_fd);
+					/* disable RC control input completely */
+					status.rc_input_blocked = true;
+					calib_ret = OK;
+					mavlink_log_info(mavlink_fd, "CAL: Disabling RC IN");
+
+				} else if ((int)(cmd.param4) == 2) {
+					/* RC trim calibration */
+					answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+					calib_ret = do_trim_calibration(mavlink_fd);
 
 				} else if ((int)(cmd.param5) == 1) {
 					/* accelerometer calibration */
@@ -1806,6 +1825,18 @@ void *commander_low_prio_loop(void *arg)
 					/* airspeed calibration */
 					answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
 					calib_ret = do_airspeed_calibration(mavlink_fd);
+				} else if ((int)(cmd.param4) == 0) {
+					/* RC calibration ended - have we been in one worth confirming? */
+					if (status.rc_input_blocked) {
+						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+						/* enable RC control input */
+						status.rc_input_blocked = false;
+						mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN");
+					}
+
+					/* this always succeeds */
+					calib_ret = OK;
+
 				}
 
 				if (calib_ret == OK)
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index 21a1c4c2c..033e7dc88 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -124,10 +124,15 @@ void tune_neutral()
 
 void tune_negative()
 {
+	led_negative();
+	ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE);
+}
+
+void led_negative()
+{
 	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
 	rgbled_set_color(RGBLED_COLOR_RED);
 	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
-	ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE);
 }
 
 int tune_arm()
diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h
index d0393f45a..af25a5e97 100644
--- a/src/modules/commander/commander_helper.h
+++ b/src/modules/commander/commander_helper.h
@@ -62,6 +62,9 @@ int tune_arm(void);
 int tune_low_bat(void);
 int tune_critical_bat(void);
 void tune_stop(void);
+
+void led_negative();
+
 int blink_msg_state();
 
 int led_init(void);
diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp
index 90ede499a..41f3ca0aa 100644
--- a/src/modules/commander/rc_calibration.cpp
+++ b/src/modules/commander/rc_calibration.cpp
@@ -53,17 +53,16 @@
 #endif
 static const int ERROR = -1;
 
-int do_rc_calibration(int mavlink_fd)
+int do_trim_calibration(int mavlink_fd)
 {
-	mavlink_log_info(mavlink_fd, "trim calibration starting");
-
 	int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
+	usleep(200000);
 	struct manual_control_setpoint_s sp;
 	bool changed;
 	orb_check(sub_man, &changed);
 
 	if (!changed) {
-		mavlink_log_critical(mavlink_fd, "no manual control, aborting");
+		mavlink_log_critical(mavlink_fd, "no inputs, aborting");
 		return ERROR;
 	}
 
@@ -82,12 +81,12 @@ int do_rc_calibration(int mavlink_fd)
 	int save_ret = param_save_default();
 
 	if (save_ret != 0) {
-		mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed");
+		mavlink_log_critical(mavlink_fd, "TRIM: SAVE FAIL");
 		close(sub_man);
 		return ERROR;
 	}
 
-	mavlink_log_info(mavlink_fd, "trim calibration done");
+	mavlink_log_info(mavlink_fd, "trim cal done");
 	close(sub_man);
 	return OK;
 }
diff --git a/src/modules/commander/rc_calibration.h b/src/modules/commander/rc_calibration.h
index 9aa6faafa..45efedf55 100644
--- a/src/modules/commander/rc_calibration.h
+++ b/src/modules/commander/rc_calibration.h
@@ -41,6 +41,6 @@
 
 #include <stdint.h>
 
-int do_rc_calibration(int mavlink_fd);
+int do_trim_calibration(int mavlink_fd);
 
 #endif /* RC_CALIBRATION_H_ */
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 1c184d3a7..6ea48a680 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -206,6 +206,7 @@ struct vehicle_status_s
 
 	bool rc_signal_found_once;
 	bool rc_signal_lost;				/**< true if RC reception lost */
+	bool rc_input_blocked;				/**< set if RC input should be ignored */
 
 	bool offboard_control_signal_found_once;
 	bool offboard_control_signal_lost;