diff options
Diffstat (limited to 'apps/px4io/mixer.cpp')
| -rw-r--r-- | apps/px4io/mixer.cpp | 105 |
1 files changed, 76 insertions, 29 deletions
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index d21b3a898..95484bc9d 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -47,8 +47,14 @@ #include <errno.h> #include <unistd.h> #include <fcntl.h> +#include <sched.h> + +#include <debug.h> #include <drivers/drv_pwm_output.h> +#include <drivers/drv_hrt.h> +#include <drivers/device/device.h> + #include <systemlib/mixer/mixer.h> extern "C" { @@ -57,10 +63,15 @@ extern "C" { } /* - * Count of periodic calls in which we have no FMU input. + * Maximum interval in us before FMU signal is considered lost */ -static unsigned fmu_input_drops; -#define FMU_INPUT_DROP_LIMIT 20 +#define FMU_INPUT_DROP_LIMIT_US 200000 + +/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */ +#define ROLL 0 +#define PITCH 1 +#define YAW 2 +#define THROTTLE 3 /* current servo arm/disarm state */ bool mixer_servos_armed = false; @@ -69,6 +80,8 @@ bool mixer_servos_armed = false; static uint16_t *control_values; static int control_count; +static uint16_t rc_channel_data[PX4IO_CONTROL_CHANNELS]; + static int mixer_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, @@ -81,37 +94,68 @@ mixer_tick(void) { 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("RX timeout\n"); + } + /* * Decide which set of inputs we're using. */ - if (system_state.mixer_use_fmu) { - /* we have recent control data from the FMU */ - control_count = PX4IO_CONTROL_CHANNELS; - control_values = &system_state.fmu_channel_data[0]; - - /* check that we are receiving fresh data from the FMU */ - if (!system_state.fmu_data_received) { - fmu_input_drops++; - - /* too many frames without FMU input, time to go to failsafe */ - if (fmu_input_drops >= FMU_INPUT_DROP_LIMIT) { - system_state.mixer_use_fmu = false; - } - + + /* 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_CONTROL_CHANNELS; + control_values = &system_state.fmu_channel_data[0]; + + } else if (system_state.rc_channels > 0) { + /* when override is on or the fmu is not available, but RC is present */ + control_count = system_state.rc_channels; + + sched_lock(); + + /* remap roll, pitch, yaw and throttle from RC specific to internal ordering */ + rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL] - 1]; + rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1]; + rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1]; + rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1]; + + /* get the remaining channels, no remapping needed */ + for (unsigned i = 4; i < system_state.rc_channels; i++) + rc_channel_data[i] = system_state.rc_channel_data[i]; + + /* scale the control inputs */ + rc_channel_data[THROTTLE] = ((rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) / + (system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000 + 1000; + //lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n", + // system_state.rc_min[THROTTLE], system_state.rc_trim[THROTTLE], system_state.rc_max[THROTTLE], rc_channel_data[THROTTLE]); + + control_values = &rc_channel_data[0]; + sched_unlock(); } else { - fmu_input_drops = 0; - system_state.fmu_data_received = false; - } + /* we have no control input (no FMU, no RC) */ - } else if (system_state.rc_channels > 0) { - /* we have control data from an R/C input */ - control_count = system_state.rc_channels; - control_values = &system_state.rc_channel_data[0]; + // XXX builtin failsafe would activate here + control_count = 0; + } + //lib_lowprintf("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]); + /* this is for multicopters, etc. where manual override does not make sense */ } else { - /* we have no control input */ - /* 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_CONTROL_CHANNELS; + control_values = &system_state.fmu_channel_data[0]; + /* we better shut everything off */ + } else { + control_count = 0; + } } /* @@ -138,14 +182,17 @@ mixer_tick(void) /* * If we are armed, update the servo output. */ - if (system_state.armed && system_state.arm_ok) + if (system_state.armed && system_state.arm_ok) { up_pwm_servo_set(i, system_state.servos[i]); + } } } /* * Decide whether the servos should be armed right now. + * A sufficient reason is armed state and either FMU or RC control inputs */ + should_arm = system_state.armed && system_state.arm_ok && (control_count > 0); if (should_arm && !mixer_servos_armed) { @@ -229,4 +276,4 @@ mixer_handle_text(const void *buffer, size_t length) break; } -}
\ No newline at end of file +} |