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author | Julian Oes <julian@oes.ch> | 2014-03-25 20:27:57 +0100 |
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committer | Julian Oes <julian@oes.ch> | 2014-03-25 20:27:57 +0100 |
commit | c203e18eb22820ef017a72f636aca0a3f1c278ae (patch) | |
tree | 7e85a282ca10c1b3cd060151608fc077da6f6489 /src | |
parent | 2af4e521ade7ecc29335b4442e958b6c815d01f2 (diff) | |
parent | 506c16f12a8420991a0e64c616bbf5833ce1845c (diff) | |
download | px4-firmware-c203e18eb22820ef017a72f636aca0a3f1c278ae.tar.gz px4-firmware-c203e18eb22820ef017a72f636aca0a3f1c278ae.tar.bz2 px4-firmware-c203e18eb22820ef017a72f636aca0a3f1c278ae.zip |
Merge branch 'hil_range_fix' into paul_mtecs_hil
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 93 |
1 files changed, 63 insertions, 30 deletions
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); + } } } }; |