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-rw-r--r--src/modules/sensors/sensors.cpp387
1 files changed, 256 insertions, 131 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 42268b971..e857b1c2f 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -50,6 +50,7 @@
#include <stdio.h>
#include <errno.h>
#include <math.h>
+#include <mathlib/mathlib.h>
#include <nuttx/analog/adc.h>
@@ -74,7 +75,7 @@
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
@@ -138,6 +139,77 @@
#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg)
/**
+ * Enum for board and external compass rotations.
+ * This enum maps from board attitude to airframe attitude.
+ */
+enum Rotation {
+ ROTATION_NONE = 0,
+ ROTATION_YAW_45 = 1,
+ ROTATION_YAW_90 = 2,
+ ROTATION_YAW_135 = 3,
+ ROTATION_YAW_180 = 4,
+ ROTATION_YAW_225 = 5,
+ ROTATION_YAW_270 = 6,
+ ROTATION_YAW_315 = 7,
+ ROTATION_ROLL_180 = 8,
+ ROTATION_ROLL_180_YAW_45 = 9,
+ ROTATION_ROLL_180_YAW_90 = 10,
+ ROTATION_ROLL_180_YAW_135 = 11,
+ ROTATION_PITCH_180 = 12,
+ ROTATION_ROLL_180_YAW_225 = 13,
+ ROTATION_ROLL_180_YAW_270 = 14,
+ ROTATION_ROLL_180_YAW_315 = 15,
+ ROTATION_ROLL_90 = 16,
+ ROTATION_ROLL_90_YAW_45 = 17,
+ ROTATION_ROLL_90_YAW_90 = 18,
+ ROTATION_ROLL_90_YAW_135 = 19,
+ ROTATION_ROLL_270 = 20,
+ ROTATION_ROLL_270_YAW_45 = 21,
+ ROTATION_ROLL_270_YAW_90 = 22,
+ ROTATION_ROLL_270_YAW_135 = 23,
+ ROTATION_PITCH_90 = 24,
+ ROTATION_PITCH_270 = 25,
+ ROTATION_MAX
+};
+
+typedef struct
+{
+ uint16_t roll;
+ uint16_t pitch;
+ uint16_t yaw;
+} rot_lookup_t;
+
+const rot_lookup_t rot_lookup[] =
+{
+ { 0, 0, 0 },
+ { 0, 0, 45 },
+ { 0, 0, 90 },
+ { 0, 0, 135 },
+ { 0, 0, 180 },
+ { 0, 0, 225 },
+ { 0, 0, 270 },
+ { 0, 0, 315 },
+ {180, 0, 0 },
+ {180, 0, 45 },
+ {180, 0, 90 },
+ {180, 0, 135 },
+ { 0, 180, 0 },
+ {180, 0, 225 },
+ {180, 0, 270 },
+ {180, 0, 315 },
+ { 90, 0, 0 },
+ { 90, 0, 45 },
+ { 90, 0, 90 },
+ { 90, 0, 135 },
+ {270, 0, 0 },
+ {270, 0, 45 },
+ {270, 0, 90 },
+ {270, 0, 135 },
+ { 0, 90, 0 },
+ { 0, 270, 0 }
+};
+
+/**
* Sensor app start / stop handling function
*
* @ingroup apps
@@ -189,9 +261,9 @@ private:
int _mag_sub; /**< raw mag data subscription */
int _rc_sub; /**< raw rc channels data subscription */
int _baro_sub; /**< raw baro data subscription */
- int _airspeed_sub; /**< airspeed subscription */
- int _diff_pres_sub; /**< raw differential pressure subscription */
- int _vstatus_sub; /**< vehicle status subscription */
+ int _airspeed_sub; /**< airspeed subscription */
+ int _diff_pres_sub; /**< raw differential pressure subscription */
+ int _vcontrol_mode_sub; /**< vehicle control mode subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
@@ -210,13 +282,16 @@ private:
struct differential_pressure_s _diff_pres;
struct airspeed_s _airspeed;
+ math::Matrix _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
+ math::Matrix _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */
+ bool _mag_is_external; /**< true if the active mag is on an external board */
+
struct {
float min[_rc_max_chan_count];
float trim[_rc_max_chan_count];
float max[_rc_max_chan_count];
float rev[_rc_max_chan_count];
float dz[_rc_max_chan_count];
- // float ex[_rc_max_chan_count];
float scaling_factor[_rc_max_chan_count];
float gyro_offset[3];
@@ -227,20 +302,20 @@ private:
float accel_scale[3];
float diff_pres_offset_pa;
- int rc_type;
+ int board_rotation;
+ int external_mag_rotation;
int rc_map_roll;
int rc_map_pitch;
int rc_map_yaw;
int rc_map_throttle;
- int rc_map_manual_override_sw;
- int rc_map_auto_mode_sw;
+ int rc_map_mode_sw;
+ int rc_map_return_sw;
+ int rc_map_assisted_sw;
+ int rc_map_mission_sw;
- int rc_map_manual_mode_sw;
- int rc_map_sas_mode_sw;
- int rc_map_rtl_sw;
- int rc_map_offboard_ctrl_mode_sw;
+// int rc_map_offboard_ctrl_mode_sw;
int rc_map_flaps;
@@ -265,10 +340,6 @@ private:
param_t max[_rc_max_chan_count];
param_t rev[_rc_max_chan_count];
param_t dz[_rc_max_chan_count];
- // param_t ex[_rc_max_chan_count];
- param_t rc_type;
-
- param_t rc_demix;
param_t gyro_offset[3];
param_t gyro_scale[3];
@@ -283,13 +354,12 @@ private:
param_t rc_map_yaw;
param_t rc_map_throttle;
- param_t rc_map_manual_override_sw;
- param_t rc_map_auto_mode_sw;
+ param_t rc_map_mode_sw;
+ param_t rc_map_return_sw;
+ param_t rc_map_assisted_sw;
+ param_t rc_map_mission_sw;
- param_t rc_map_manual_mode_sw;
- param_t rc_map_sas_mode_sw;
- param_t rc_map_rtl_sw;
- param_t rc_map_offboard_ctrl_mode_sw;
+// param_t rc_map_offboard_ctrl_mode_sw;
param_t rc_map_flaps;
@@ -306,6 +376,9 @@ private:
param_t battery_voltage_scaling;
+ param_t board_rotation;
+ param_t external_mag_rotation;
+
} _parameter_handles; /**< handles for interesting parameters */
@@ -315,6 +388,11 @@ private:
int parameters_update();
/**
+ * Get the rotation matrices
+ */
+ void get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix);
+
+ /**
* Do accel-related initialisation.
*/
void accel_init();
@@ -380,9 +458,9 @@ private:
void diff_pres_poll(struct sensor_combined_s &raw);
/**
- * Check for changes in vehicle status.
+ * Check for changes in vehicle control mode.
*/
- void vehicle_status_poll();
+ void vehicle_control_mode_poll();
/**
* Check for changes in parameters.
@@ -437,7 +515,7 @@ Sensors::Sensors() :
_mag_sub(-1),
_rc_sub(-1),
_baro_sub(-1),
- _vstatus_sub(-1),
+ _vcontrol_mode_sub(-1),
_params_sub(-1),
_manual_control_sub(-1),
@@ -450,7 +528,11 @@ Sensors::Sensors() :
_diff_pres_pub(-1),
/* performance counters */
- _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update"))
+ _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")),
+
+ _board_rotation(3,3),
+ _external_mag_rotation(3,3),
+ _mag_is_external(false)
{
/* basic r/c parameters */
@@ -479,8 +561,6 @@ Sensors::Sensors() :
}
- _parameter_handles.rc_type = param_find("RC_TYPE");
-
/* mandatory input switched, mapped to channels 1-4 per default */
_parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL");
_parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
@@ -488,16 +568,16 @@ Sensors::Sensors() :
_parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
/* mandatory mode switches, mapped to channel 5 and 6 per default */
- _parameter_handles.rc_map_manual_override_sw = param_find("RC_MAP_OVER_SW");
- _parameter_handles.rc_map_auto_mode_sw = param_find("RC_MAP_MODE_SW");
+ _parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
+ _parameter_handles.rc_map_return_sw = param_find("RC_MAP_RETURN_SW");
_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
/* optional mode switches, not mapped per default */
- _parameter_handles.rc_map_manual_mode_sw = param_find("RC_MAP_MAN_SW");
- _parameter_handles.rc_map_sas_mode_sw = param_find("RC_MAP_SAS_SW");
- _parameter_handles.rc_map_rtl_sw = param_find("RC_MAP_RTL_SW");
- _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
+ _parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
+ _parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW");
+
+// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
@@ -540,6 +620,10 @@ Sensors::Sensors() :
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
+ /* rotations */
+ _parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
+ _parameter_handles.external_mag_rotation = param_find("SENS_EXT_MAG_ROT");
+
/* fetch initial parameter values */
parameters_update();
}
@@ -601,11 +685,6 @@ Sensors::parameters_update()
if (!rc_valid)
warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
- /* remote control type */
- if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) {
- warnx("Failed getting remote control type");
- }
-
/* channel mapping */
if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
warnx("Failed getting roll chan index");
@@ -623,54 +702,35 @@ Sensors::parameters_update()
warnx("Failed getting throttle chan index");
}
- if (param_get(_parameter_handles.rc_map_manual_override_sw, &(_parameters.rc_map_manual_override_sw)) != OK) {
- warnx("Failed getting override sw chan index");
- }
-
- if (param_get(_parameter_handles.rc_map_auto_mode_sw, &(_parameters.rc_map_auto_mode_sw)) != OK) {
- warnx("Failed getting auto mode sw chan index");
- }
-
- if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
- warnx("Failed getting flaps chan index");
- }
-
- if (param_get(_parameter_handles.rc_map_manual_mode_sw, &(_parameters.rc_map_manual_mode_sw)) != OK) {
- warnx("Failed getting manual mode sw chan index");
- }
-
- if (param_get(_parameter_handles.rc_map_rtl_sw, &(_parameters.rc_map_rtl_sw)) != OK) {
- warnx("Failed getting rtl sw chan index");
- }
-
- if (param_get(_parameter_handles.rc_map_sas_mode_sw, &(_parameters.rc_map_sas_mode_sw)) != OK) {
- warnx("Failed getting sas mode sw chan index");
+ if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
+ warnx("Failed getting mode sw chan index");
}
- if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
- warnx("Failed getting offboard control mode sw chan index");
+ if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
+ warnx("Failed getting return sw chan index");
}
- if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) {
- warnx("Failed getting mode aux 1 index");
+ if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
+ warnx("Failed getting assisted sw chan index");
}
- if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) {
- warnx("Failed getting mode aux 2 index");
+ if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
+ warnx("Failed getting mission sw chan index");
}
- if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) {
- warnx("Failed getting mode aux 3 index");
+ if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
+ warnx("Failed getting flaps chan index");
}
- if (param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)) != OK) {
- warnx("Failed getting mode aux 4 index");
- }
-
- if (param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)) != OK) {
- warnx("Failed getting mode aux 5 index");
- }
+// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
+// warnx("Failed getting offboard control mode sw chan index");
+// }
+ param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1));
+ param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2));
+ param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3));
+ param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
+ param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll));
param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));
@@ -682,15 +742,14 @@ Sensors::parameters_update()
_rc.function[PITCH] = _parameters.rc_map_pitch - 1;
_rc.function[YAW] = _parameters.rc_map_yaw - 1;
- _rc.function[OVERRIDE] = _parameters.rc_map_manual_override_sw - 1;
- _rc.function[AUTO_MODE] = _parameters.rc_map_auto_mode_sw - 1;
+ _rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
+ _rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
+ _rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1;
+ _rc.function[MISSION] = _parameters.rc_map_mission_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
- _rc.function[MANUAL_MODE] = _parameters.rc_map_manual_mode_sw - 1;
- _rc.function[RTL] = _parameters.rc_map_rtl_sw - 1;
- _rc.function[SAS_MODE] = _parameters.rc_map_sas_mode_sw - 1;
- _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1;
+// _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1;
_rc.function[AUX_1] = _parameters.rc_map_aux1 - 1;
_rc.function[AUX_2] = _parameters.rc_map_aux2 - 1;
@@ -731,10 +790,34 @@ Sensors::parameters_update()
warnx("Failed updating voltage scaling param");
}
+ param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
+ param_get(_parameter_handles.external_mag_rotation, &(_parameters.external_mag_rotation));
+
+ get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
+ get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation);
+
return OK;
}
void
+Sensors::get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix)
+{
+ /* first set to zero */
+ rot_matrix->Matrix::zero(3,3);
+
+ float roll = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll;
+ float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch;
+ float yaw = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw;
+
+ math::EulerAngles euler(roll, pitch, yaw);
+
+ math::Dcm R(euler);
+
+ for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
+ (*rot_matrix)(i,j) = R(i, j);
+}
+
+void
Sensors::accel_init()
{
int fd;
@@ -757,7 +840,7 @@ Sensors::accel_init()
/* set the driver to poll at 1000Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 1000);
- #else
+ #elif CONFIG_ARCH_BOARD_PX4FMU_V2
/* set the accel internal sampling rate up to at leat 800Hz */
ioctl(fd, ACCELIOCSSAMPLERATE, 800);
@@ -765,6 +848,9 @@ Sensors::accel_init()
/* set the driver to poll at 800Hz */
ioctl(fd, SENSORIOCSPOLLRATE, 800);
+ #else
+ #error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
+
#endif
warnx("using system accel");
@@ -799,11 +885,11 @@ Sensors::gyro_init()
#else
- /* set the gyro internal sampling rate up to at leat 800Hz */
- ioctl(fd, GYROIOCSSAMPLERATE, 800);
+ /* set the gyro internal sampling rate up to at least 760Hz */
+ ioctl(fd, GYROIOCSSAMPLERATE, 760);
- /* set the driver to poll at 800Hz */
- ioctl(fd, SENSORIOCSPOLLRATE, 800);
+ /* set the driver to poll at 760Hz */
+ ioctl(fd, SENSORIOCSPOLLRATE, 760);
#endif
@@ -816,6 +902,7 @@ void
Sensors::mag_init()
{
int fd;
+ int ret;
fd = open(MAG_DEVICE_PATH, 0);
@@ -824,11 +911,33 @@ Sensors::mag_init()
errx(1, "FATAL: no magnetometer found");
}
- /* set the mag internal poll rate to at least 150Hz */
- ioctl(fd, MAGIOCSSAMPLERATE, 150);
+ /* try different mag sampling rates */
- /* set the driver to poll at 150Hz */
- ioctl(fd, SENSORIOCSPOLLRATE, 150);
+
+ ret = ioctl(fd, MAGIOCSSAMPLERATE, 150);
+ if (ret == OK) {
+ /* set the pollrate accordingly */
+ ioctl(fd, SENSORIOCSPOLLRATE, 150);
+ } else {
+ ret = ioctl(fd, MAGIOCSSAMPLERATE, 100);
+ /* if the slower sampling rate still fails, something is wrong */
+ if (ret == OK) {
+ /* set the driver to poll also at the slower rate */
+ ioctl(fd, SENSORIOCSPOLLRATE, 100);
+ } else {
+ errx(1, "FATAL: mag sampling rate could not be set");
+ }
+ }
+
+
+
+ ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
+ if (ret < 0)
+ errx(1, "FATAL: unknown if magnetometer is external or onboard");
+ else if (ret == 1)
+ _mag_is_external = true;
+ else
+ _mag_is_external = false;
close(fd);
}
@@ -842,7 +951,7 @@ Sensors::baro_init()
if (fd < 0) {
warn("%s", BARO_DEVICE_PATH);
- warnx("No barometer found, ignoring");
+ errx(1, "FATAL: No barometer found");
}
/* set the driver to poll at 150Hz */
@@ -874,9 +983,12 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
- raw.accelerometer_m_s2[0] = accel_report.x;
- raw.accelerometer_m_s2[1] = accel_report.y;
- raw.accelerometer_m_s2[2] = accel_report.z;
+ math::Vector3 vect = {accel_report.x, accel_report.y, accel_report.z};
+ vect = _board_rotation*vect;
+
+ raw.accelerometer_m_s2[0] = vect(0);
+ raw.accelerometer_m_s2[1] = vect(1);
+ raw.accelerometer_m_s2[2] = vect(2);
raw.accelerometer_raw[0] = accel_report.x_raw;
raw.accelerometer_raw[1] = accel_report.y_raw;
@@ -897,9 +1009,12 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
- raw.gyro_rad_s[0] = gyro_report.x;
- raw.gyro_rad_s[1] = gyro_report.y;
- raw.gyro_rad_s[2] = gyro_report.z;
+ math::Vector3 vect = {gyro_report.x, gyro_report.y, gyro_report.z};
+ vect = _board_rotation*vect;
+
+ raw.gyro_rad_s[0] = vect(0);
+ raw.gyro_rad_s[1] = vect(1);
+ raw.gyro_rad_s[2] = vect(2);
raw.gyro_raw[0] = gyro_report.x_raw;
raw.gyro_raw[1] = gyro_report.y_raw;
@@ -920,9 +1035,16 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report);
- raw.magnetometer_ga[0] = mag_report.x;
- raw.magnetometer_ga[1] = mag_report.y;
- raw.magnetometer_ga[2] = mag_report.z;
+ math::Vector3 vect = {mag_report.x, mag_report.y, mag_report.z};
+
+ if (_mag_is_external)
+ vect = _external_mag_rotation*vect;
+ else
+ vect = _board_rotation*vect;
+
+ raw.magnetometer_ga[0] = vect(0);
+ raw.magnetometer_ga[1] = vect(1);
+ raw.magnetometer_ga[2] = vect(2);
raw.magnetometer_raw[0] = mag_report.x_raw;
raw.magnetometer_raw[1] = mag_report.y_raw;
@@ -977,21 +1099,21 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
}
void
-Sensors::vehicle_status_poll()
+Sensors::vehicle_control_mode_poll()
{
- struct vehicle_status_s vstatus;
- bool vstatus_updated;
+ struct vehicle_control_mode_s vcontrol_mode;
+ bool vcontrol_mode_updated;
- /* Check HIL state if vehicle status has changed */
- orb_check(_vstatus_sub, &vstatus_updated);
+ /* Check HIL state if vehicle control mode has changed */
+ orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
- if (vstatus_updated) {
+ if (vcontrol_mode_updated) {
- orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &vstatus);
+ orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &vcontrol_mode);
/* switching from non-HIL to HIL mode */
//printf("[sensors] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled);
- if (vstatus.flag_hil_enabled && !_hil_enabled) {
+ if (vcontrol_mode.flag_system_hil_enabled && !_hil_enabled) {
_hil_enabled = true;
_publishing = false;
@@ -1194,10 +1316,11 @@ Sensors::ppm_poll()
manual_control.yaw = NAN;
manual_control.throttle = NAN;
- manual_control.manual_mode_switch = NAN;
- manual_control.manual_sas_switch = NAN;
- manual_control.return_to_launch_switch = NAN;
- manual_control.auto_offboard_input_switch = NAN;
+ manual_control.mode_switch = NAN;
+ manual_control.return_switch = NAN;
+ manual_control.assisted_switch = NAN;
+ manual_control.mission_switch = NAN;
+// manual_control.auto_offboard_input_switch = NAN;
manual_control.flaps = NAN;
manual_control.aux1 = NAN;
@@ -1297,11 +1420,17 @@ Sensors::ppm_poll()
manual_control.yaw *= _parameters.rc_scale_yaw;
}
- /* override switch input */
- manual_control.manual_override_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OVERRIDE]].scaled);
-
/* mode switch input */
- manual_control.auto_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[AUTO_MODE]].scaled);
+ manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
+
+ /* land switch input */
+ manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
+
+ /* assisted switch input */
+ manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
+
+ /* mission switch input */
+ manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
/* flaps */
if (_rc.function[FLAPS] >= 0) {
@@ -1313,21 +1442,17 @@ Sensors::ppm_poll()
}
}
- if (_rc.function[MANUAL_MODE] >= 0) {
- manual_control.manual_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MANUAL_MODE]].scaled);
- }
-
- if (_rc.function[SAS_MODE] >= 0) {
- manual_control.manual_sas_switch = limit_minus_one_to_one(_rc.chan[_rc.function[SAS_MODE]].scaled);
+ if (_rc.function[MODE] >= 0) {
+ manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
}
- if (_rc.function[RTL] >= 0) {
- manual_control.return_to_launch_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RTL]].scaled);
+ if (_rc.function[MISSION] >= 0) {
+ manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
}
- if (_rc.function[OFFBOARD_MODE] >= 0) {
- manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
- }
+// if (_rc.function[OFFBOARD_MODE] >= 0) {
+// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
+// }
/* aux functions, only assign if valid mapping is present */
if (_rc.function[AUX_1] >= 0) {
@@ -1400,12 +1525,12 @@ Sensors::task_main()
_rc_sub = orb_subscribe(ORB_ID(input_rc));
_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
_diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
- _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+ _vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
/* rate limit vehicle status updates to 5Hz */
- orb_set_interval(_vstatus_sub, 200);
+ orb_set_interval(_vcontrol_mode_sub, 200);
/* rate limit gyro to 250 Hz (the gyro signal is lowpassed accordingly earlier) */
orb_set_interval(_gyro_sub, 4);
@@ -1461,7 +1586,7 @@ Sensors::task_main()
perf_begin(_loop_perf);
/* check vehicle status for changes to publication state */
- vehicle_status_poll();
+ vehicle_control_mode_poll();
/* check parameters for updates */
parameter_update_poll();
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-16 11:35:32 +0000