diff options
Diffstat (limited to 'src/modules/px4iofirmware/mixer.cpp')
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 89 |
1 files changed, 51 insertions, 38 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 606c639f9..66f0969de 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -58,14 +58,7 @@ extern "C" { /* * Maximum interval in us before FMU signal is considered lost */ -#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 -#define OVERRIDE 4 +#define FMU_INPUT_DROP_LIMIT_US 500000 /* current servo arm/disarm state */ static bool mixer_servos_armed = false; @@ -98,7 +91,8 @@ mixer_tick(void) { /* check that we are receiving fresh data from the FMU */ - if (hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { + if ((system_state.fmu_data_received_time == 0) || + hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { /* too long without FMU input, time to go to failsafe */ if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { @@ -109,6 +103,9 @@ mixer_tick(void) } else { r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; + + /* this flag is never cleared once OK */ + r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED; } /* default to failsafe mixing - it will be forced below if flag is set */ @@ -139,7 +136,9 @@ mixer_tick(void) (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) && !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) && - !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) { + !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && + /* do not enter manual override if we asked for termination failsafe and FMU is lost */ + !(r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)) { /* if allowed, mix from RC inputs directly */ source = MIX_OVERRIDE; @@ -155,29 +154,11 @@ mixer_tick(void) } /* - * Check if we should force failsafe - and do it if we have to - */ - if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) { - source = MIX_FAILSAFE; - } - - /* - * Set failsafe status flag depending on mixing source - */ - if (source == MIX_FAILSAFE) { - r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE; - } else { - r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE); - } - - /* * Decide whether the servos should be armed right now. * * We must be armed, and we must have a PWM source; either raw from * FMU or from the mixer. * - * XXX correct behaviour for failsafe may require an additional case - * here. */ should_arm = ( /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) @@ -195,6 +176,38 @@ mixer_tick(void) && (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK); /* + * Check if failsafe termination is set - if yes, + * set the force failsafe flag once entering the first + * failsafe condition. + */ + if ( /* if we have requested flight termination style failsafe (noreturn) */ + (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) && + /* and we ended up in a failsafe condition */ + (source == MIX_FAILSAFE) && + /* and we should be armed, so we intended to provide outputs */ + should_arm && + /* and FMU is initialized */ + (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED)) { + r_setup_arming |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; + } + + /* + * Check if we should force failsafe - and do it if we have to + */ + if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) { + source = MIX_FAILSAFE; + } + + /* + * Set failsafe status flag depending on mixing source + */ + if (source == MIX_FAILSAFE) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE; + } else { + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE); + } + + /* * Run the mixers. */ if (source == MIX_FAILSAFE) { @@ -340,12 +353,16 @@ static unsigned mixer_text_length = 0; int mixer_handle_text(const void *buffer, size_t length) { - /* do not allow a mixer change while safety off */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) { + /* do not allow a mixer change while safety off and FMU armed */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && + (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { return 1; } - /* abort if we're in the mixer */ + /* disable mixing, will be enabled once load is complete */ + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_MIXER_OK); + + /* abort if we're in the mixer - the caller is expected to retry */ if (in_mixer) { return 1; } @@ -354,17 +371,16 @@ mixer_handle_text(const void *buffer, size_t length) isr_debug(2, "mix txt %u", length); - if (length < sizeof(px4io_mixdata)) + if (length < sizeof(px4io_mixdata)) { return 0; + } - unsigned text_length = length - sizeof(px4io_mixdata); + unsigned text_length = length - sizeof(px4io_mixdata); switch (msg->action) { case F2I_MIXER_ACTION_RESET: isr_debug(2, "reset"); - /* FIRST mark the mixer as invalid */ - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; /* THEN actually delete it */ mixer_group.reset(); mixer_text_length = 0; @@ -373,9 +389,6 @@ mixer_handle_text(const void *buffer, size_t length) case F2I_MIXER_ACTION_APPEND: isr_debug(2, "append %d", length); - /* disable mixing during the update */ - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; - /* check for overflow - this would be really fatal */ if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; 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