diff options
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/commander/commander.cpp | 58 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 169 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 1 | ||||
-rw-r--r-- | src/modules/mavlink/missionlib.c | 2 | ||||
-rw-r--r-- | src/modules/mavlink/waypoints.c | 37 | ||||
-rw-r--r-- | src/modules/px4iofirmware/i2c.c | 6 | ||||
-rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 139 | ||||
-rw-r--r-- | src/modules/px4iofirmware/module.mk | 1 | ||||
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 4 | ||||
-rw-r--r-- | src/modules/px4iofirmware/px4io.c | 16 | ||||
-rw-r--r-- | src/modules/px4iofirmware/px4io.h | 9 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 111 | ||||
-rw-r--r-- | src/modules/px4iofirmware/serial.c | 20 | ||||
-rw-r--r-- | src/modules/systemlib/pwm_limit/pwm_limit.c | 133 | ||||
-rw-r--r-- | src/modules/systemlib/pwm_limit/pwm_limit.h | 77 | ||||
-rw-r--r-- | src/modules/uORB/topics/actuator_outputs.h | 2 |
16 files changed, 533 insertions, 252 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 9814a7bcc..44a144296 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -379,7 +379,7 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe } // TODO remove debug code - //mavlink_log_critical(mavlink_fd, "[cmd] command setmode: %d %d", base_mode, custom_main_mode); + //mavlink_log_critical(mavlink_fd, "#audio: command setmode: %d %d", base_mode, custom_main_mode); /* set arming state */ arming_res = TRANSITION_NOT_CHANGED; @@ -496,11 +496,11 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe } if (arming_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] ARMED by component arm cmd"); + mavlink_log_critical(mavlink_fd, "#audio: ARMED by component arm cmd"); result = VEHICLE_CMD_RESULT_ACCEPTED; } else { - mavlink_log_info(mavlink_fd, "[cmd] REJECTING component arm cmd"); + mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd"); result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } } @@ -521,13 +521,13 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe tune_negative(); if (result == VEHICLE_CMD_RESULT_DENIED) { - mavlink_log_critical(mavlink_fd, "[cmd] command denied: %u", cmd->command); + mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd->command); } else if (result == VEHICLE_CMD_RESULT_FAILED) { - mavlink_log_critical(mavlink_fd, "[cmd] command failed: %u", cmd->command); + mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd->command); } else if (result == VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED) { - mavlink_log_critical(mavlink_fd, "[cmd] command temporarily rejected: %u", cmd->command); + mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd->command); } } @@ -874,10 +874,10 @@ int commander_thread_main(int argc, char *argv[]) status_changed = true; if (status.condition_landed) { - mavlink_log_critical(mavlink_fd, "[cmd] LANDED"); + mavlink_log_critical(mavlink_fd, "#audio: LANDED"); } else { - mavlink_log_critical(mavlink_fd, "[cmd] IN AIR"); + mavlink_log_critical(mavlink_fd, "#audio: IN AIR"); } } } @@ -955,7 +955,7 @@ int commander_thread_main(int argc, char *argv[]) //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { low_battery_voltage_actions_done = true; - mavlink_log_critical(mavlink_fd, "[cmd] WARNING: LOW BATTERY"); + mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY"); status.battery_warning = VEHICLE_BATTERY_WARNING_LOW; status_changed = true; battery_tune_played = false; @@ -967,7 +967,7 @@ int commander_thread_main(int argc, char *argv[]) /* critical battery voltage, this is rather an emergency, change state machine */ if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { critical_battery_voltage_actions_done = true; - mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY: CRITICAL BATTERY"); + mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY"); status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL; battery_tune_played = false; @@ -1069,12 +1069,12 @@ int commander_thread_main(int argc, char *argv[]) /* handle the case where RC signal was regained */ if (!status.rc_signal_found_once) { status.rc_signal_found_once = true; - mavlink_log_critical(mavlink_fd, "[cmd] detected RC signal first time"); + mavlink_log_critical(mavlink_fd, "#audio: detected RC signal first time"); status_changed = true; } else { if (status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "[cmd] RC signal regained"); + mavlink_log_critical(mavlink_fd, "#audio: RC signal regained"); status_changed = true; } } @@ -1143,7 +1143,7 @@ int commander_thread_main(int argc, char *argv[]) } else if (res == TRANSITION_DENIED) { warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); - mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + mavlink_log_critical(mavlink_fd, "#audio: ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); } /* fill current_status according to mode switches */ @@ -1159,12 +1159,12 @@ int commander_thread_main(int argc, char *argv[]) } else if (res == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ warnx("ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); - mavlink_log_critical(mavlink_fd, "[cmd] ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); + mavlink_log_critical(mavlink_fd, "#audio: ERROR: main denied: arm %d main %d mode_sw %d", status.arming_state, status.main_state, status.mode_switch); } } else { if (!status.rc_signal_lost) { - mavlink_log_critical(mavlink_fd, "[cmd] CRITICAL: RC SIGNAL LOST"); + mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST"); status.rc_signal_lost = true; status_changed = true; } @@ -1189,7 +1189,7 @@ int commander_thread_main(int argc, char *argv[]) if (res == TRANSITION_DENIED) { /* DENIED here indicates bug in the commander */ warnx("ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); - mavlink_log_critical(mavlink_fd, "[cmd] ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); + mavlink_log_critical(mavlink_fd, "#audio: ERROR: nav denied: arm %d main %d nav %d", status.arming_state, status.main_state, status.navigation_state); } /* check which state machines for changes, clear "changed" flag */ @@ -1506,7 +1506,7 @@ print_reject_mode(const char *msg) if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { last_print_mode_reject_time = t; char s[80]; - sprintf(s, "[cmd] WARNING: reject %s", msg); + sprintf(s, "#audio: warning: reject %s", msg); mavlink_log_critical(mavlink_fd, s); tune_negative(); } @@ -1520,7 +1520,7 @@ print_reject_arm(const char *msg) if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { last_print_mode_reject_time = t; char s[80]; - sprintf(s, "[cmd] %s", msg); + sprintf(s, "#audio: %s", msg); mavlink_log_critical(mavlink_fd, s); tune_negative(); } @@ -1617,14 +1617,14 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c if (res == TRANSITION_CHANGED) { if (control_mode->flag_control_position_enabled) { - mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: POS HOLD"); + mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: POS HOLD"); } else { if (status->condition_landed) { - mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: ALT HOLD (LAND)"); + mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: ALT HOLD (LAND)"); } else { - mavlink_log_critical(mavlink_fd, "[cmd] FAILSAFE: ALT HOLD"); + mavlink_log_critical(mavlink_fd, "#audio: FAILSAFE: ALT HOLD"); } } } @@ -1660,22 +1660,22 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul break; case VEHICLE_CMD_RESULT_DENIED: - mavlink_log_critical(mavlink_fd, "[cmd] command denied: %u", cmd.command); + mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd.command); tune_negative(); break; case VEHICLE_CMD_RESULT_FAILED: - mavlink_log_critical(mavlink_fd, "[cmd] command failed: %u", cmd.command); + mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd.command); tune_negative(); break; case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED: - mavlink_log_critical(mavlink_fd, "[cmd] command temporarily rejected: %u", cmd.command); + mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd.command); tune_negative(); break; case VEHICLE_CMD_RESULT_UNSUPPORTED: - mavlink_log_critical(mavlink_fd, "[cmd] command unsupported: %u", cmd.command); + mavlink_log_critical(mavlink_fd, "#audio: command unsupported: %u", cmd.command); tune_negative(); break; @@ -1814,14 +1814,14 @@ void *commander_low_prio_loop(void *arg) answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); } else { - mavlink_log_critical(mavlink_fd, "[cmd] parameters load ERROR"); + mavlink_log_critical(mavlink_fd, "#audio: parameters load ERROR"); /* convenience as many parts of NuttX use negative errno */ if (ret < 0) ret = -ret; if (ret < 1000) - mavlink_log_critical(mavlink_fd, "[cmd] %s", strerror(ret)); + mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret)); answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); } @@ -1834,14 +1834,14 @@ void *commander_low_prio_loop(void *arg) answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); } else { - mavlink_log_critical(mavlink_fd, "[cmd] parameters save error"); + mavlink_log_critical(mavlink_fd, "#audio: parameters save error"); /* convenience as many parts of NuttX use negative errno */ if (ret < 0) ret = -ret; if (ret < 1000) - mavlink_log_critical(mavlink_fd, "[cmd] %s", strerror(ret)); + mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret)); answer_command(cmd, VEHICLE_CMD_RESULT_FAILED); } diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index f09e44b39..ffa7915a7 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -158,6 +158,12 @@ private: float _launch_alt; bool _launch_valid; + /* land states */ + /* not in non-abort mode for landing yet */ + bool land_noreturn; + /* heading hold */ + float target_bearing; + /* throttle and airspeed states */ float _airspeed_error; ///< airspeed error to setpoint in m/s bool _airspeed_valid; ///< flag if a valid airspeed estimate exists @@ -197,6 +203,8 @@ private: float throttle_max; float throttle_cruise; + float throttle_land_max; + float loiter_hold_radius; } _parameters; /**< local copies of interesting parameters */ @@ -229,6 +237,8 @@ private: param_t throttle_max; param_t throttle_cruise; + param_t throttle_land_max; + param_t loiter_hold_radius; } _parameter_handles; /**< handles for interesting parameters */ @@ -327,7 +337,8 @@ FixedwingPositionControl::FixedwingPositionControl() : _airspeed_error(0.0f), _airspeed_valid(false), _groundspeed_undershoot(0.0f), - _global_pos_valid(false) + _global_pos_valid(false), + land_noreturn(false) { _nav_capabilities.turn_distance = 0.0f; @@ -345,6 +356,7 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.throttle_min = param_find("FW_THR_MIN"); _parameter_handles.throttle_max = param_find("FW_THR_MAX"); _parameter_handles.throttle_cruise = param_find("FW_THR_CRUISE"); + _parameter_handles.throttle_land_max = param_find("FW_THR_LND_MAX"); _parameter_handles.time_const = param_find("FW_T_TIME_CONST"); _parameter_handles.min_sink_rate = param_find("FW_T_SINK_MIN"); @@ -408,6 +420,8 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.throttle_max, &(_parameters.throttle_max)); param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise)); + param_get(_parameter_handles.throttle_land_max, &(_parameters.throttle_land_max)); + param_get(_parameter_handles.time_const, &(_parameters.time_const)); param_get(_parameter_handles.min_sink_rate, &(_parameters.min_sink_rate)); param_get(_parameter_handles.max_sink_rate, &(_parameters.max_sink_rate)); @@ -630,6 +644,9 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio _tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth); float altitude_error = _global_triplet.current.altitude - _global_pos.alt; + /* no throttle limit as default */ + float throttle_max = 1.0f; + /* AUTONOMOUS FLIGHT */ // XXX this should only execute if auto AND safety off (actuators active), @@ -639,11 +656,12 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* get circle mode */ bool was_circle_mode = _l1_control.circle_mode(); + /* restore speed weight, in case changed intermittently (e.g. in landing handling) */ + _tecs.set_speed_weight(_parameters.speed_weight); + /* execute navigation once we have a setpoint */ if (_setpoint_valid) { - float altitude_error = _global_triplet.current.altitude - _global_pos.alt; - /* current waypoint (the one currently heading for) */ math::Vector2f next_wp(global_triplet.current.lat / 1e7f, global_triplet.current.lon / 1e7f); @@ -711,27 +729,87 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio } else if (global_triplet.current.nav_cmd == NAV_CMD_LAND) { - _l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed); + /* switch to heading hold for the last meters, continue heading hold after */ + + float wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), current_position.getX(), current_position.getY()); + //warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO"); + if (wp_distance < 15.0f || land_noreturn) { + + /* heading hold, along the line connecting this and the last waypoint */ + + + // if (global_triplet.previous_valid) { + // target_bearing = get_bearing_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), next_wp.getX(), next_wp.getY()); + // } else { + + if (!land_noreturn) + target_bearing = _att.yaw; + //} + + warnx("NORET: %d, target_bearing: %d, yaw: %d", (int)land_noreturn, (int)math::degrees(target_bearing), (int)math::degrees(_att.yaw)); + + _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed); + + if (altitude_error > -5.0f) + land_noreturn = true; + + } else { + + /* normal navigation */ + _l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed); + } + + /* do not go down too early */ + if (wp_distance > 50.0f) { + altitude_error = (_global_triplet.current.altitude + 25.0f) - _global_pos.alt; + } + + _att_sp.roll_body = _l1_control.nav_roll(); _att_sp.yaw_body = _l1_control.nav_bearing(); /* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */ // XXX this could make a great param - if (altitude_error > -20.0f) { - float flare_angle_rad = math::radians(15.0f);//math::radians(global_triplet.current.param1) + float flare_angle_rad = math::radians(10.0f);//math::radians(global_triplet.current.param1) + float land_pitch_min = math::radians(5.0f); + float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f; + float airspeed_land = _parameters.airspeed_min; + float airspeed_approach = (_parameters.airspeed_min + _parameters.airspeed_trim) / 2.0f; - _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min), + if (altitude_error > -4.0f) { + + /* land with minimal speed */ + + /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */ + _tecs.set_speed_weight(2.0f); + + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(airspeed_land), _airspeed.indicated_airspeed_m_s, eas2tas, - true, flare_angle_rad, - _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, - math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); + false, flare_angle_rad, + 0.0f, _parameters.throttle_max, throttle_land, + math::radians(-10.0f), math::radians(15.0f)); + + /* kill the throttle if param requests it */ + throttle_max = math::min(throttle_max, _parameters.throttle_land_max); /* limit roll motion to prevent wings from touching the ground first */ - _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-20.0f), math::radians(20.0f)); + _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f)); + + } else if (wp_distance < 60.0f && altitude_error > -20.0f) { + + /* minimize speed to approach speed */ + + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(airspeed_approach), + _airspeed.indicated_airspeed_m_s, eas2tas, + false, flare_angle_rad, + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); } else { + /* normal cruise speed */ + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim), _airspeed.indicated_airspeed_m_s, eas2tas, false, math::radians(_parameters.pitch_limit_min), @@ -790,7 +868,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio _loiter_hold = true; } - float altitude_error = _loiter_hold_alt - _global_pos.alt; + altitude_error = _loiter_hold_alt - _global_pos.alt; math::Vector2f loiter_hold_pos(_loiter_hold_lat, _loiter_hold_lon); @@ -801,7 +879,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio _att_sp.yaw_body = _l1_control.nav_bearing(); /* climb with full throttle if the altitude error is bigger than 5 meters */ - bool climb_out = (altitude_error > 5); + bool climb_out = (altitude_error > 3); float min_pitch; @@ -824,11 +902,53 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio } } + /* reset land state */ + if (global_triplet.current.nav_cmd != NAV_CMD_LAND) { + land_noreturn = false; + } + if (was_circle_mode && !_l1_control.circle_mode()) { /* just kicked out of loiter, reset roll integrals */ _att_sp.roll_reset_integral = true; } + } else if (0/* easy mode enabled */) { + + /** EASY FLIGHT **/ + + if (0/* switched from another mode to easy */) { + _seatbelt_hold_heading = _att.yaw; + } + + if (0/* easy on and manual control yaw non-zero */) { + _seatbelt_hold_heading = _att.yaw + _manual.yaw; + } + + /* climb out control */ + bool climb_out = false; + + /* user wants to climb out */ + if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) { + climb_out = true; + } + + /* if in seatbelt mode, set airspeed based on manual control */ + + // XXX check if ground speed undershoot should be applied here + float seatbelt_airspeed = _parameters.airspeed_min + + (_parameters.airspeed_max - _parameters.airspeed_min) * + _manual.throttle; + + _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); + _att_sp.roll_body = _l1_control.nav_roll(); + _att_sp.yaw_body = _l1_control.nav_bearing(); + _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, + seatbelt_airspeed, + _airspeed.indicated_airspeed_m_s, eas2tas, + false, _parameters.pitch_limit_min, + _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, + _parameters.pitch_limit_min, _parameters.pitch_limit_max); + } else if (0/* seatbelt mode enabled */) { /** SEATBELT FLIGHT **/ @@ -848,13 +968,28 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio (_parameters.airspeed_max - _parameters.airspeed_min) * _manual.throttle; + /* user switched off throttle */ + if (_manual.throttle < 0.1f) { + throttle_max = 0.0f; + /* switch to pure pitch based altitude control, give up speed */ + _tecs.set_speed_weight(0.0f); + } + + /* climb out control */ + bool climb_out = false; + + /* user wants to climb out */ + if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) { + climb_out = true; + } + _l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed); - _att_sp.roll_body = _l1_control.nav_roll(); - _att_sp.yaw_body = _l1_control.nav_bearing(); + _att_sp.roll_body = _manual.roll; + _att_sp.yaw_body = _manual.yaw; _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f, seatbelt_airspeed, _airspeed.indicated_airspeed_m_s, eas2tas, - false, _parameters.pitch_limit_min, + climb_out, _parameters.pitch_limit_min, _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, _parameters.pitch_limit_min, _parameters.pitch_limit_max); @@ -867,7 +1002,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio } _att_sp.pitch_body = _tecs.get_pitch_demand(); - _att_sp.thrust = _tecs.get_throttle_demand(); + _att_sp.thrust = math::min(_tecs.get_throttle_demand(), throttle_max); return setpoint; } diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index bf4b3b32a..3bb872405 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -75,6 +75,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); +PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f); PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f); diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c index e8d707948..d37b18a19 100644 --- a/src/modules/mavlink/missionlib.c +++ b/src/modules/mavlink/missionlib.c @@ -220,7 +220,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, sp.lon = param6_lon_y * 1e7f; sp.altitude = param7_alt_z; sp.altitude_is_relative = false; - sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; + sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); set_special_fields(param1, param2, param3, param4, command, &sp); /* Initialize setpoint publication if necessary */ diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index ddad5f0df..7e4a2688f 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -398,7 +398,14 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ if (time_elapsed) { + /* safeguard against invalid missions with last wp autocontinue on */ + if (wpm->current_active_wp_id == wpm->size - 1) { + /* stop handling missions here */ + cur_wp->autocontinue = false; + } + if (cur_wp->autocontinue) { + cur_wp->current = 0; float navigation_lat = -1.0f; @@ -419,13 +426,16 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ navigation_frame = MAV_FRAME_LOCAL_NED; } + /* guard against missions without final land waypoint */ /* only accept supported navigation waypoints, skip unknown ones */ do { + /* pick up the last valid navigation waypoint, this will be one we hold on to after the mission */ if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT || wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS || wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME || - wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM) { + wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM || + wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_TAKEOFF) { /* this is a navigation waypoint */ navigation_frame = cur_wp->frame; @@ -434,17 +444,20 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ navigation_alt = cur_wp->z; } - if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) { - /* the last waypoint was reached, if auto continue is - * activated keep the system loitering there. - */ - cur_wp->command = MAV_CMD_NAV_LOITER_UNLIM; - cur_wp->param3 = 20.0f; // XXX magic number 20 m loiter radius - cur_wp->frame = navigation_frame; - cur_wp->x = navigation_lat; - cur_wp->y = navigation_lon; - cur_wp->z = navigation_alt; - cur_wp->autocontinue = false; + if (wpm->current_active_wp_id == wpm->size - 1) { + + /* if we're not landing at the last nav waypoint, we're falling back to loiter */ + if (wpm->waypoints[wpm->current_active_wp_id].command != (int)MAV_CMD_NAV_LAND) { + /* the last waypoint was reached, if auto continue is + * activated AND it is NOT a land waypoint, keep the system loitering there. + */ + cur_wp->command = MAV_CMD_NAV_LOITER_UNLIM; + cur_wp->param3 = 20.0f; // XXX magic number 20 m loiter radius + cur_wp->frame = navigation_frame; + cur_wp->x = navigation_lat; + cur_wp->y = navigation_lon; + cur_wp->z = navigation_alt; + } /* we risk an endless loop for missions without navigation waypoints, abort. */ break; diff --git a/src/modules/px4iofirmware/i2c.c b/src/modules/px4iofirmware/i2c.c index 10aeb5c9f..79b6546b3 100644 --- a/src/modules/px4iofirmware/i2c.c +++ b/src/modules/px4iofirmware/i2c.c @@ -149,12 +149,6 @@ interface_init(void) #endif } -void -interface_tick() -{ -} - - /* reset the I2C bus used to recover from lockups diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 30aff7d20..05897b4ce 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -47,6 +47,7 @@ #include <drivers/drv_pwm_output.h> #include <drivers/drv_hrt.h> +#include <systemlib/pwm_limit/pwm_limit.h> #include <systemlib/mixer/mixer.h> extern "C" { @@ -59,12 +60,6 @@ extern "C" { */ #define FMU_INPUT_DROP_LIMIT_US 200000 -/* - * Time that the ESCs need to initialize - */ - #define ESC_INIT_TIME_US 1000000 - #define ESC_RAMP_TIME_US 2000000 - /* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */ #define ROLL 0 #define PITCH 1 @@ -76,15 +71,6 @@ extern "C" { static bool mixer_servos_armed = false; static bool should_arm = false; static bool should_always_enable_pwm = false; -static uint64_t esc_init_time; - -enum esc_state_e { - ESC_OFF, - ESC_INIT, - ESC_RAMP, - ESC_ON -}; -static esc_state_e esc_state; /* selected control values and count for mixing */ enum mixer_source { @@ -166,6 +152,30 @@ mixer_tick(void) } /* + * 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) + /* and IO is armed */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) + /* and FMU is armed */ && ( + ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) + /* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ) + /* or direct PWM is set */ || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) + /* or failsafe was set manually */ || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) + ) + ); + + should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) + && (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) + && (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK); + + /* * Run the mixers. */ if (source == MIX_FAILSAFE) { @@ -184,107 +194,15 @@ mixer_tick(void) float outputs[PX4IO_SERVO_COUNT]; unsigned mixed; - uint16_t ramp_promille; - - /* update esc init state, but only if we are truely armed and not just PWM enabled */ - if (mixer_servos_armed && should_arm) { - - switch (esc_state) { - - /* after arming, some ESCs need an initalization period, count the time from here */ - case ESC_OFF: - esc_init_time = hrt_absolute_time(); - esc_state = ESC_INIT; - break; - - /* after waiting long enough for the ESC initialization, we can start with the ramp to start the ESCs */ - case ESC_INIT: - if (hrt_elapsed_time(&esc_init_time) > ESC_INIT_TIME_US) { - esc_state = ESC_RAMP; - } - break; - - /* then ramp until the min speed is reached */ - case ESC_RAMP: - if (hrt_elapsed_time(&esc_init_time) > (ESC_INIT_TIME_US + ESC_RAMP_TIME_US)) { - esc_state = ESC_ON; - } - break; - - case ESC_ON: - default: - - break; - } - } else { - esc_state = ESC_OFF; - } - - /* do the calculations during the ramp for all at once */ - if (esc_state == ESC_RAMP) { - ramp_promille = (1000*(hrt_elapsed_time(&esc_init_time)-ESC_INIT_TIME_US))/ESC_RAMP_TIME_US; - } - - /* mix */ mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT); - /* scale to PWM and update the servo outputs as required */ - for (unsigned i = 0; i < mixed; i++) { - - /* save actuator values for FMU readback */ - r_page_actuators[i] = FLOAT_TO_REG(outputs[i]); - - switch (esc_state) { - case ESC_INIT: - r_page_servos[i] = (outputs[i] * 600 + 1500); - break; - - case ESC_RAMP: - r_page_servos[i] = (outputs[i] - * (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*2100 - ramp_promille*r_page_servo_control_min[i] - (1000-ramp_promille)*900)/2/1000 - + (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*2100 + ramp_promille*r_page_servo_control_min[i] + (1000-ramp_promille)*900)/2/1000); - break; - - case ESC_ON: - r_page_servos[i] = (outputs[i] - * (r_page_servo_control_max[i] - r_page_servo_control_min[i])/2 - + (r_page_servo_control_max[i] + r_page_servo_control_min[i])/2); - break; + pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); - case ESC_OFF: - default: - break; - } - } for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) r_page_servos[i] = 0; } - /* - * 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) - /* and IO is armed */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) - /* and FMU is armed */ && ( - ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) - /* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ) - /* or direct PWM is set */ || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) - /* or failsafe was set manually */ || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) - ) - ); - - should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) - && (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) - && (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK); - if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) { /* need to arm, but not armed */ up_pwm_servo_arm(true); @@ -298,7 +216,6 @@ mixer_tick(void) mixer_servos_armed = false; r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED); isr_debug(5, "> PWM disabled"); - } if (mixer_servos_armed && should_arm) { @@ -307,9 +224,9 @@ mixer_tick(void) up_pwm_servo_set(i, r_page_servos[i]); } else if (mixer_servos_armed && should_always_enable_pwm) { - /* set the idle servo outputs. */ + /* set the disarmed servo outputs. */ for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) - up_pwm_servo_set(i, r_page_servo_idle[i]); + up_pwm_servo_set(i, r_page_servo_disarmed[i]); } } diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk index 59f470a94..01869569f 100644 --- a/src/modules/px4iofirmware/module.mk +++ b/src/modules/px4iofirmware/module.mk @@ -14,6 +14,7 @@ SRCS = adc.c \ ../systemlib/mixer/mixer_group.cpp \ ../systemlib/mixer/mixer_multirotor.cpp \ ../systemlib/mixer/mixer_simple.cpp \ + ../systemlib/pwm_limit/pwm_limit.c ifeq ($(BOARD),px4io-v1) SRCS += i2c.c diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 0e2cd1689..5e5396782 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -220,8 +220,8 @@ enum { /* DSM bind states */ /* PWM maximum values for certain ESCs */ #define PX4IO_PAGE_CONTROL_MAX_PWM 107 /* 0..CONFIG_ACTUATOR_COUNT-1 */ -/* PWM idle values that are active, even when SAFETY_SAFE */ -#define PX4IO_PAGE_IDLE_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */ +/* PWM disarmed values that are active, even when SAFETY_SAFE */ +#define PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */ /** * As-needed mixer data upload. diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index e70b3fe88..ff9eecd74 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -50,6 +50,7 @@ #include <drivers/drv_hrt.h> #include <systemlib/perf_counter.h> +#include <systemlib/pwm_limit/pwm_limit.h> #include <stm32_uart.h> @@ -64,6 +65,8 @@ struct sys_state_s system_state; static struct hrt_call serial_dma_call; +pwm_limit_t pwm_limit; + /* * a set of debug buffers to allow us to send debug information from ISRs */ @@ -159,9 +162,6 @@ user_start(int argc, char *argv[]) /* start the FMU interface */ interface_init(); - /* add a performance counter for the interface */ - perf_counter_t interface_perf = perf_alloc(PC_ELAPSED, "interface"); - /* add a performance counter for mixing */ perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix"); @@ -174,6 +174,9 @@ user_start(int argc, char *argv[]) struct mallinfo minfo = mallinfo(); lowsyslog("MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks); + /* initialize PWM limit lib */ + pwm_limit_init(&pwm_limit); + #if 0 /* not enough memory, lock down */ if (minfo.mxordblk < 500) { @@ -203,11 +206,6 @@ user_start(int argc, char *argv[]) /* track the rate at which the loop is running */ perf_count(loop_perf); - /* kick the interface */ - perf_begin(interface_perf); - interface_tick(); - perf_end(interface_perf); - /* kick the mixer */ perf_begin(mixer_perf); mixer_tick(); @@ -218,6 +216,7 @@ user_start(int argc, char *argv[]) controls_tick(); perf_end(controls_perf); +#if 0 /* check for debug activity */ show_debug_messages(); @@ -234,6 +233,7 @@ user_start(int argc, char *argv[]) (unsigned)minfo.mxordblk); last_debug_time = hrt_absolute_time(); } +#endif } } diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 66c4ca906..4fea0288c 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -46,6 +46,8 @@ #include "protocol.h" +#include <systemlib/pwm_limit/pwm_limit.h> + /* * Constants and limits. */ @@ -80,7 +82,7 @@ extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */ extern uint16_t r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */ extern uint16_t r_page_servo_control_min[]; /* PX4IO_PAGE_CONTROL_MIN_PWM */ extern uint16_t r_page_servo_control_max[]; /* PX4IO_PAGE_CONTROL_MAX_PWM */ -extern uint16_t r_page_servo_idle[]; /* PX4IO_PAGE_IDLE_PWM */ +extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */ /* * Register aliases. @@ -123,6 +125,11 @@ struct sys_state_s { extern struct sys_state_s system_state; /* + * PWM limit structure + */ +extern pwm_limit_t pwm_limit; + +/* * GPIO handling. */ #define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 9d9ef7c6d..40597adf1 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -199,7 +199,7 @@ uint16_t r_page_rc_input_config[PX4IO_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRI * * Disable pulses as default. */ -uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0 }; +uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 }; /** * PAGE 106 @@ -207,7 +207,7 @@ uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0 }; * minimum PWM values when armed * */ -uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 }; +uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN }; /** * PAGE 107 @@ -215,15 +215,15 @@ uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 90 * maximum PWM values when armed * */ -uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100, 2100, 2100, 2100, 2100 }; +uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX }; /** * PAGE 108 * - * idle PWM values for difficult ESCs + * disarmed PWM values for difficult ESCs * */ -uint16_t r_page_servo_idle[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 }; +uint16_t r_page_servo_disarmed[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 }; int registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) @@ -276,8 +276,15 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* copy channel data */ while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { - /* XXX range-check value? */ - r_page_servo_failsafe[offset] = *values; + if (*values == 0) { + /* ignore 0 */ + } else if (*values < PWM_MIN) { + r_page_servo_failsafe[offset] = PWM_MIN; + } else if (*values > PWM_MAX) { + r_page_servo_failsafe[offset] = PWM_MAX; + } else { + r_page_servo_failsafe[offset] = *values; + } /* flag the failsafe values as custom */ r_setup_arming |= PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM; @@ -293,16 +300,15 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* copy channel data */ while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { - if (*values == 0) - /* set to default */ - r_page_servo_control_min[offset] = 900; - - else if (*values > 1200) - r_page_servo_control_min[offset] = 1200; - else if (*values < 900) - r_page_servo_control_min[offset] = 900; - else + if (*values == 0) { + /* ignore 0 */ + } else if (*values > PWM_HIGHEST_MIN) { + r_page_servo_control_min[offset] = PWM_HIGHEST_MIN; + } else if (*values < PWM_MIN) { + r_page_servo_control_min[offset] = PWM_MIN; + } else { r_page_servo_control_min[offset] = *values; + } offset++; num_values--; @@ -315,16 +321,15 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* copy channel data */ while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { - if (*values == 0) - /* set to default */ - r_page_servo_control_max[offset] = 2100; - - else if (*values > 2100) - r_page_servo_control_max[offset] = 2100; - else if (*values < 1800) - r_page_servo_control_max[offset] = 1800; - else + if (*values == 0) { + /* ignore 0 */ + } else if (*values > PWM_MAX) { + r_page_servo_control_max[offset] = PWM_MAX; + } else if (*values < PWM_LOWEST_MAX) { + r_page_servo_control_max[offset] = PWM_LOWEST_MAX; + } else { r_page_servo_control_max[offset] = *values; + } offset++; num_values--; @@ -332,28 +337,40 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num } break; - case PX4IO_PAGE_IDLE_PWM: - - /* copy channel data */ - while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { - - if (*values == 0) - /* set to default */ - r_page_servo_idle[offset] = 0; - - else if (*values < 900) - r_page_servo_idle[offset] = 900; - else if (*values > 2100) - r_page_servo_idle[offset] = 2100; - else - r_page_servo_idle[offset] = *values; + case PX4IO_PAGE_DISARMED_PWM: + { + /* flag for all outputs */ + bool all_disarmed_off = true; + + /* copy channel data */ + while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { + + if (*values == 0) { + /* 0 means disabling always PWM */ + r_page_servo_disarmed[offset] = 0; + } else if (*values < PWM_MIN) { + r_page_servo_disarmed[offset] = PWM_MIN; + all_disarmed_off = false; + } else if (*values > PWM_MAX) { + r_page_servo_disarmed[offset] = PWM_MAX; + all_disarmed_off = false; + } else { + r_page_servo_disarmed[offset] = *values; + all_disarmed_off = false; + } - /* flag the failsafe values as custom */ - r_setup_arming |= PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE; + offset++; + num_values--; + values++; + } - offset++; - num_values--; - values++; + if (all_disarmed_off) { + /* disable PWM output if disarmed */ + r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE); + } else { + /* enable PWM output always */ + r_setup_arming |= PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE; + } } break; @@ -767,8 +784,8 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val case PX4IO_PAGE_CONTROL_MAX_PWM: SELECT_PAGE(r_page_servo_control_max); break; - case PX4IO_PAGE_IDLE_PWM: - SELECT_PAGE(r_page_servo_idle); + case PX4IO_PAGE_DISARMED_PWM: + SELECT_PAGE(r_page_servo_disarmed); break; default: diff --git a/src/modules/px4iofirmware/serial.c b/src/modules/px4iofirmware/serial.c index 94d7407df..e9adc8cd6 100644 --- a/src/modules/px4iofirmware/serial.c +++ b/src/modules/px4iofirmware/serial.c @@ -74,9 +74,6 @@ static DMA_HANDLE rx_dma; static int serial_interrupt(int irq, void *context); static void dma_reset(void); -/* if we spend this many ticks idle, reset the DMA */ -static unsigned idle_ticks; - static struct IOPacket dma_packet; /* serial register accessors */ @@ -150,16 +147,6 @@ interface_init(void) debug("serial init"); } -void -interface_tick() -{ - /* XXX look for stuck/damaged DMA and reset? */ - if (idle_ticks++ > 100) { - dma_reset(); - idle_ticks = 0; - } -} - static void rx_handle_packet(void) { @@ -230,9 +217,6 @@ rx_dma_callback(DMA_HANDLE handle, uint8_t status, void *arg) /* disable UART DMA */ rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR); - /* reset the idle counter */ - idle_ticks = 0; - /* handle the received packet */ rx_handle_packet(); @@ -308,6 +292,7 @@ serial_interrupt(int irq, void *context) /* it was too short - possibly truncated */ perf_count(pc_badidle); + dma_reset(); return 0; } @@ -343,7 +328,8 @@ dma_reset(void) sizeof(dma_packet), DMA_CCR_MINC | DMA_CCR_PSIZE_8BITS | - DMA_CCR_MSIZE_8BITS); + DMA_CCR_MSIZE_8BITS | + DMA_CCR_PRIVERYHI); /* start receive DMA ready for the next packet */ stm32_dmastart(rx_dma, rx_dma_callback, NULL, false); diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c new file mode 100644 index 000000000..cac3dc82a --- /dev/null +++ b/src/modules/systemlib/pwm_limit/pwm_limit.c @@ -0,0 +1,133 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Julian Oes <joes@student.ethz.ch> + * + * 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 pwm_limit.c + * + * Lib to limit PWM output + * + * @author Julian Oes <joes@student.ethz.ch> + */ + +#include "pwm_limit.h" +#include <math.h> +#include <stdbool.h> +#include <drivers/drv_hrt.h> + +void pwm_limit_init(pwm_limit_t *limit) +{ + limit->state = LIMIT_STATE_OFF; + limit->time_armed = 0; + return; +} + +void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, float *output, uint16_t *effective_pwm, pwm_limit_t *limit) +{ + /* first evaluate state changes */ + switch (limit->state) { + case LIMIT_STATE_OFF: + if (armed) + limit->state = LIMIT_STATE_RAMP; + limit->time_armed = hrt_absolute_time(); + break; + case LIMIT_STATE_INIT: + if (!armed) + limit->state = LIMIT_STATE_OFF; + else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US) + limit->state = LIMIT_STATE_RAMP; + break; + case LIMIT_STATE_RAMP: + if (!armed) + limit->state = LIMIT_STATE_OFF; + else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US + RAMP_TIME_US) + limit->state = LIMIT_STATE_ON; + break; + case LIMIT_STATE_ON: + if (!armed) + limit->state = LIMIT_STATE_OFF; + break; + default: + break; + } + + unsigned progress; + uint16_t temp_pwm; + + /* then set effective_pwm based on state */ + switch (limit->state) { + case LIMIT_STATE_OFF: + case LIMIT_STATE_INIT: + for (unsigned i=0; i<num_channels; i++) { + effective_pwm[i] = disarmed_pwm[i]; + output[i] = 0.0f; + } + break; + case LIMIT_STATE_RAMP: + + progress = (hrt_absolute_time() - INIT_TIME_US - limit->time_armed)*10000 / RAMP_TIME_US; + for (unsigned i=0; i<num_channels; i++) { + + uint16_t ramp_min_pwm; + + /* if a disarmed pwm value was set, blend between disarmed and min */ + if (disarmed_pwm[i] > 0) { + + /* safeguard against overflows */ + uint16_t disarmed = disarmed_pwm[i]; + if (disarmed > min_pwm[i]) + disarmed = min_pwm[i]; + + uint16_t disarmed_min_diff = min_pwm[i] - disarmed; + ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / 10000; + } else { + + /* no disarmed pwm value set, choose min pwm */ + ramp_min_pwm = min_pwm[i]; + } + + effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2; + output[i] = (float)progress/10000.0f * output[i]; + } + break; + case LIMIT_STATE_ON: + for (unsigned i=0; i<num_channels; i++) { + effective_pwm[i] = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2; + /* effective_output stays the same */ + } + break; + default: + break; + } + return; +} diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.h b/src/modules/systemlib/pwm_limit/pwm_limit.h new file mode 100644 index 000000000..9974770be --- /dev/null +++ b/src/modules/systemlib/pwm_limit/pwm_limit.h @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Julian Oes <joes@student.ethz.ch> + * + * 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 pwm_limit.h + * + * Lib to limit PWM output + * + * @author Julian Oes <joes@student.ethz.ch> + */ + +#ifndef PWM_LIMIT_H_ +#define PWM_LIMIT_H_ + +#include <stdint.h> +#include <stdbool.h> + +/* + * time for the ESCs to initialize + * (this is not actually needed if PWM is sent right after boot) + */ +#define INIT_TIME_US 500000 +/* + * time to slowly ramp up the ESCs + */ +#define RAMP_TIME_US 2500000 + +typedef struct { + enum { + LIMIT_STATE_OFF = 0, + LIMIT_STATE_INIT, + LIMIT_STATE_RAMP, + LIMIT_STATE_ON + } state; + uint64_t time_armed; +} pwm_limit_t; + +__BEGIN_DECLS + +__EXPORT void pwm_limit_init(pwm_limit_t *limit); + +__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, float *output, uint16_t *effective_pwm, pwm_limit_t *limit); + +__END_DECLS + +#endif /* PWM_LIMIT_H_ */ diff --git a/src/modules/uORB/topics/actuator_outputs.h b/src/modules/uORB/topics/actuator_outputs.h index 30895ca83..446140423 100644 --- a/src/modules/uORB/topics/actuator_outputs.h +++ b/src/modules/uORB/topics/actuator_outputs.h @@ -60,7 +60,7 @@ struct actuator_outputs_s { uint64_t timestamp; /**< output timestamp in us since system boot */ float output[NUM_ACTUATOR_OUTPUTS]; /**< output data, in natural output units */ - int noutputs; /**< valid outputs */ + unsigned noutputs; /**< valid outputs */ }; /** |