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Diffstat (limited to 'src/modules/commander/esc_calibration.cpp')
| -rw-r--r-- | src/modules/commander/esc_calibration.cpp | 152 |
1 files changed, 152 insertions, 0 deletions
diff --git a/src/modules/commander/esc_calibration.cpp b/src/modules/commander/esc_calibration.cpp new file mode 100644 index 000000000..541aca053 --- /dev/null +++ b/src/modules/commander/esc_calibration.cpp @@ -0,0 +1,152 @@ +/**************************************************************************** + * + * Copyright (c) 2015 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file esc_calibration.cpp + * + * Definition of esc calibration + * + * @author Roman Bapst <bapstr@ethz.ch> + */ + +#include "esc_calibration.h" +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <stdbool.h> +#include <unistd.h> +#include <sys/ioctl.h> +#include <systemlib/err.h> +#include <fcntl.h> +#include <poll.h> +#include "drivers/drv_pwm_output.h" +#include <uORB/topics/battery_status.h> +#include <uORB/topics/vehicle_command.h> +#include <uORB/uORB.h> +#include <drivers/drv_hrt.h> +#include <mavlink/mavlink_log.h> + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +int check_if_batt_disconnected(int mavlink_fd) { + struct battery_status_s battery; + memset(&battery,0,sizeof(battery)); + int batt_sub = orb_subscribe(ORB_ID(battery_status)); + orb_copy(ORB_ID(battery_status), batt_sub, &battery); + + if (battery.voltage_filtered_v > 3.0f && !(hrt_absolute_time() - battery.timestamp > 500000)) { + mavlink_log_info(mavlink_fd, "Please disconnect battery and try again!"); + return ERROR; + } + return OK; +} + + +int do_esc_calibration(int mavlink_fd) { + + int fd = open(PWM_OUTPUT0_DEVICE_PATH, 0); + int ret; + + if(fd < 0) { + err(1,"Can't open %s", PWM_OUTPUT0_DEVICE_PATH); + } + + /* tell IO/FMU that its ok to disable its safety with the switch */ + ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0); + if (ret != OK) + err(1, "PWM_SERVO_SET_ARM_OK"); + /* tell IO/FMU that the system is armed (it will output values if safety is off) */ + ret = ioctl(fd, PWM_SERVO_ARM, 0); + if (ret != OK) + err(1, "PWM_SERVO_ARM"); + /* tell IO to switch off safety without using the safety switch */ + ret = ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0); + if(ret!=0) { + err(1,"PWM_SERVO_SET_FORCE_SAFETY_OFF"); + } + + mavlink_log_info(mavlink_fd,"Please connect battery now"); + + struct battery_status_s battery; + memset(&battery,0,sizeof(battery)); + int batt_sub = orb_subscribe(ORB_ID(battery_status)); + orb_copy(ORB_ID(vehicle_command),batt_sub, &battery); + bool updated = false; + + struct vehicle_command_s cmd; + memset(&cmd, 0, sizeof(cmd)); + int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); + orb_copy(ORB_ID(vehicle_command),cmd_sub, &cmd); + + /* wait for one of the following events: + 1) user has pressed the button in QGroundControl + 2) timeout of 5 seconds is reached + */ + hrt_abstime start_time = hrt_absolute_time(); + + while(true) { + orb_check(batt_sub,&updated); + if(updated) { + orb_copy(ORB_ID(battery_status), batt_sub, &battery); + } + // user has connected battery + if(battery.voltage_filtered_v > 3.0f) { + orb_check(cmd_sub,&updated); + if(updated) { + orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); + } + if((int)(cmd.param7) == 2 && cmd.command == VEHICLE_CMD_PREFLIGHT_CALIBRATION) { + break; + } else if (hrt_absolute_time() - start_time > 5000000) { + // waited for 5 seconds, switch to low pwm + break; + } + } + else { + start_time = hrt_absolute_time(); + } + usleep(50000); + } + + /* disarm */ + ret = ioctl(fd, PWM_SERVO_DISARM, 0); + if (ret != OK) + err(1, "PWM_SERVO_DISARM"); + + mavlink_log_info(mavlink_fd,"ESC calibration finished"); + return OK; + }
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