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-rw-r--r--src/modules/sensors/sensors.cpp160
1 files changed, 72 insertions, 88 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index f7b41b120..22374a1fe 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -74,7 +74,7 @@
#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>
@@ -191,7 +191,7 @@ private:
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 _vcontrol_mode_sub; /**< vehicle control mode subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
@@ -234,13 +234,12 @@ private:
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;
@@ -257,8 +256,6 @@ private:
float battery_voltage_scaling;
- int rc_rl1_DSM_VCC_control;
-
} _parameters; /**< local copies of interesting parameters */
struct {
@@ -285,13 +282,12 @@ 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;
@@ -308,8 +304,6 @@ private:
param_t battery_voltage_scaling;
- param_t rc_rl1_DSM_VCC_control;
-
} _parameter_handles; /**< handles for interesting parameters */
@@ -384,9 +378,9 @@ 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.
@@ -441,7 +435,7 @@ 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),
@@ -492,16 +486,16 @@ 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");
@@ -544,9 +538,6 @@ Sensors::Sensors() :
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
- /* DSM VCC relay control */
- _parameter_handles.rc_rl1_DSM_VCC_control = param_find("RC_RL1_DSM_VCC");
-
/* fetch initial parameter values */
parameters_update();
}
@@ -630,33 +621,29 @@ 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_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
+ warnx("Failed getting 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_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
+ warnx("Failed getting return sw 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_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
+ warnx("Failed getting assisted 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_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
+ warnx("Failed getting mission 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_flaps, &(_parameters.rc_map_flaps)) != OK) {
+ warnx("Failed getting flaps 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_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_aux1, &(_parameters.rc_map_aux1)) != OK) {
warnx("Failed getting mode aux 1 index");
@@ -689,15 +676,14 @@ 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;
@@ -738,11 +724,6 @@ Sensors::parameters_update()
warnx("Failed updating voltage scaling param");
}
- /* relay 1 DSM VCC control */
- if (param_get(_parameter_handles.rc_rl1_DSM_VCC_control, &(_parameters.rc_rl1_DSM_VCC_control)) != OK) {
- warnx("Failed updating relay 1 DSM VCC control");
- }
-
return OK;
}
@@ -989,21 +970,21 @@ 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;
@@ -1206,10 +1187,11 @@ 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;
@@ -1309,11 +1291,17 @@ 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) {
@@ -1325,21 +1313,17 @@ 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[MODE] >= 0) {
+ manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[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[MISSION] >= 0) {
+ manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].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[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) {
@@ -1412,12 +1396,12 @@ 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);
@@ -1473,7 +1457,7 @@ 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 2024-07-12 09:50:21 +0000