From 409fa565f48ffe164b7332c9186a876b2771922a Mon Sep 17 00:00:00 2001 From: Holger Steinhaus Date: Tue, 25 Mar 2014 15:42:44 +0100 Subject: px4io: do not include failsafe condition into rc_lost flag --- src/modules/px4iofirmware/controls.c | 158 +++++++++++++++++------------------ 1 file changed, 77 insertions(+), 81 deletions(-) (limited to 'src/modules/px4iofirmware/controls.c') diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 941500f0d..609dd3312 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -201,94 +201,90 @@ controls_tick() { /* update RC-received timestamp */ system_state.rc_channels_timestamp_received = hrt_absolute_time(); - /* do not command anything in failsafe, kick in the RC loss counter */ - if (!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { - - /* update RC-received timestamp */ - system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received; - - /* map raw inputs to mapped inputs */ - /* XXX mapping should be atomic relative to protocol */ - for (unsigned i = 0; i < r_raw_rc_count; i++) { - - /* map the input channel */ - uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; - - if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { - - uint16_t raw = r_raw_rc_values[i]; - - int16_t scaled; - - /* - * 1) Constrain to min/max values, as later processing depends on bounds. - */ - if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) - raw = conf[PX4IO_P_RC_CONFIG_MIN]; - if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) - raw = conf[PX4IO_P_RC_CONFIG_MAX]; - - /* - * 2) Scale around the mid point differently for lower and upper range. - * - * This is necessary as they don't share the same endpoints and slope. - * - * First normalize to 0..1 range with correct sign (below or above center), - * then scale to 20000 range (if center is an actual center, -10000..10000, - * if parameters only support half range, scale to 10000 range, e.g. if - * center == min 0..10000, if center == max -10000..0). - * - * As the min and max bounds were enforced in step 1), division by zero - * cannot occur, as for the case of center == min or center == max the if - * statement is mutually exclusive with the arithmetic NaN case. - * - * DO NOT REMOVE OR ALTER STEP 1! - */ - if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); - - } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); - - } else { - /* in the configured dead zone, output zero */ - scaled = 0; - } - - /* invert channel if requested */ - if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) - scaled = -scaled; + /* update RC-received timestamp */ + system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received; + + /* map raw inputs to mapped inputs */ + /* XXX mapping should be atomic relative to protocol */ + for (unsigned i = 0; i < r_raw_rc_count; i++) { + + /* map the input channel */ + uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; + + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { + + uint16_t raw = r_raw_rc_values[i]; + + int16_t scaled; + + /* + * 1) Constrain to min/max values, as later processing depends on bounds. + */ + if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) + raw = conf[PX4IO_P_RC_CONFIG_MIN]; + if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) + raw = conf[PX4IO_P_RC_CONFIG_MAX]; + + /* + * 2) Scale around the mid point differently for lower and upper range. + * + * This is necessary as they don't share the same endpoints and slope. + * + * First normalize to 0..1 range with correct sign (below or above center), + * then scale to 20000 range (if center is an actual center, -10000..10000, + * if parameters only support half range, scale to 10000 range, e.g. if + * center == min 0..10000, if center == max -10000..0). + * + * As the min and max bounds were enforced in step 1), division by zero + * cannot occur, as for the case of center == min or center == max the if + * statement is mutually exclusive with the arithmetic NaN case. + * + * DO NOT REMOVE OR ALTER STEP 1! + */ + if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); + + } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); + + } else { + /* in the configured dead zone, output zero */ + scaled = 0; + } - /* and update the scaled/mapped version */ - unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - if (mapped < PX4IO_CONTROL_CHANNELS) { + /* invert channel if requested */ + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) + scaled = -scaled; - /* invert channel if pitch - pulling the lever down means pitching up by convention */ - if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ - scaled = -scaled; + /* and update the scaled/mapped version */ + unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; + if (mapped < PX4IO_CONTROL_CHANNELS) { - r_rc_values[mapped] = SIGNED_TO_REG(scaled); - assigned_channels |= (1 << mapped); + /* invert channel if pitch - pulling the lever down means pitching up by convention */ + if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ + scaled = -scaled; + + r_rc_values[mapped] = SIGNED_TO_REG(scaled); + assigned_channels |= (1 << mapped); - } } } + } - /* set un-assigned controls to zero */ - for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { - if (!(assigned_channels & (1 << i))) - r_rc_values[i] = 0; - } + /* set un-assigned controls to zero */ + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { + if (!(assigned_channels & (1 << i))) + r_rc_values[i] = 0; + } - /* set RC OK flag, as we got an update */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; + /* set RC OK flag, as we got an update */ + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; - /* if we have enough channels (5) to control the vehicle, the mapping is ok */ - if (assigned_channels > 4) { - r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK; - } else { - r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); - } + /* if we have enough channels (5) to control the vehicle, the mapping is ok */ + if (assigned_channels > 4) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); } /* @@ -316,8 +312,8 @@ controls_tick() { * Handle losing RC input */ - /* this kicks in if the receiver is gone or the system went to failsafe */ - if (rc_input_lost || (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { + /* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */ + if (rc_input_lost) { /* Clear the RC input status flag, clear manual override flag */ r_status_flags &= ~( PX4IO_P_STATUS_FLAGS_OVERRIDE | -- cgit v1.2.3 From c6d98a32f83383e6204fd6cefbfcc1fd7e1cf159 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 5 Apr 2014 10:27:43 +0200 Subject: Proper failsafe handling onboard, including throttle failsafe condition if enabled --- src/modules/px4iofirmware/controls.c | 36 ++++++++++++++++++++++++------------ src/modules/px4iofirmware/protocol.h | 9 +++++---- 2 files changed, 29 insertions(+), 16 deletions(-) (limited to 'src/modules/px4iofirmware/controls.c') diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 609dd3312..b860fc587 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -134,8 +134,6 @@ controls_tick() { perf_begin(c_gather_sbus); - bool sbus_status = (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS); - bool sbus_failsafe, sbus_frame_drop; bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS); @@ -261,8 +259,20 @@ controls_tick() { if (mapped < PX4IO_CONTROL_CHANNELS) { /* invert channel if pitch - pulling the lever down means pitching up by convention */ - if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ + if (mapped == 1) { + /* roll, pitch, yaw, throttle, override is the standard order */ scaled = -scaled; + } + + if (mapped == 3 && (r_setup_features & PX4IO_P_SETUP_FEATURES_RC_FAIL_DETECT)) { + /* throttle failsafe detection */ + if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < 800)) || + ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > 2200))) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + } + } r_rc_values[mapped] = SIGNED_TO_REG(scaled); assigned_channels |= (1 << mapped); @@ -312,6 +322,11 @@ controls_tick() { * Handle losing RC input */ + /* if we are in failsafe, clear the override flag */ + if (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) { + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); + } + /* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */ if (rc_input_lost) { /* Clear the RC input status flag, clear manual override flag */ @@ -322,27 +337,24 @@ controls_tick() { /* Mark all channels as invalid, as we just lost the RX */ r_rc_valid = 0; + /* Set raw channel count to zero */ + r_raw_rc_count = 0; + /* Set the RC_LOST alarm */ r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST; } - /* this kicks in if the receiver is completely gone */ - if (rc_input_lost) { - - /* Set channel count to zero */ - r_raw_rc_count = 0; - } - /* * Check for manual override. * * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we - * must have R/C input. + * must have R/C input (NO FAILSAFE!). * Override is enabled if either the hardcoded channel / value combination * is selected, or the AP has requested it. */ if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && + !(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { bool override = false; diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index d48c6c529..b69f68107 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -164,10 +164,11 @@ /* setup page */ #define PX4IO_PAGE_SETUP 50 #define PX4IO_P_SETUP_FEATURES 0 -#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /* enable S.Bus v1 output */ -#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /* enable S.Bus v2 output */ -#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /* enable PWM RSSI parsing */ -#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /* enable ADC RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /**< enable S.Bus v1 output */ +#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */ +#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_RC_FAIL_DETECT (1 << 4) /**< enable RC fail detection based on channel value */ #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ #define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ -- cgit v1.2.3 From 9a0b2b7610d39f88b627046e0d90f66aada1e88f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 5 Apr 2014 11:02:22 +0200 Subject: Make throttle failsafe depend on the failsafe threshold parameter. Make the parameter optional (no harm if not found). --- src/drivers/px4io/px4io.cpp | 17 ++++++++++++++++- src/modules/px4iofirmware/controls.c | 6 +++--- src/modules/px4iofirmware/protocol.h | 21 +++++++++++---------- src/modules/px4iofirmware/px4io.h | 1 + src/modules/px4iofirmware/registers.c | 4 ++-- 5 files changed, 33 insertions(+), 16 deletions(-) (limited to 'src/modules/px4iofirmware/controls.c') diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 8eee1cbca..f6125d273 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -944,8 +944,23 @@ PX4IO::task_main() int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1); if (pret != OK) { - log("voltage scaling upload failed"); + log("vscale upload failed"); } + + /* send RC throttle failsafe value to IO */ + float failsafe_param_val; + param_t failsafe_param = param_find("RC_FS_THR"); + + if (failsafe_param > 0) + + param_get(failsafe_param, &failsafe_param_val); + uint16_t failsafe_thr = failsafe_param_val; + pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1); + if (pret != OK) { + log("failsafe upload failed"); + } + } + } } diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index b860fc587..356fe44cd 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -264,10 +264,10 @@ controls_tick() { scaled = -scaled; } - if (mapped == 3 && (r_setup_features & PX4IO_P_SETUP_FEATURES_RC_FAIL_DETECT)) { + if (mapped == 3 && r_setup_rc_thr_failsafe) { /* throttle failsafe detection */ - if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < 800)) || - ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > 2200))) { + if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) || + ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) { r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE; } else { r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index b69f68107..a978d483a 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -168,7 +168,6 @@ #define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */ #define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */ #define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */ -#define PX4IO_P_SETUP_FEATURES_RC_FAIL_DETECT (1 << 4) /**< enable RC fail detection based on channel value */ #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ #define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ @@ -202,13 +201,15 @@ enum { /* DSM bind states */ dsm_bind_send_pulses, dsm_bind_reinit_uart }; - /* 8 */ -#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ + /* 8 */ +#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ -#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ -#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ +#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ +#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ -#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ +#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ + /* 12 occupied by CRC */ +#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */ /* autopilot control values, -10000..10000 */ #define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ @@ -218,10 +219,10 @@ enum { /* DSM bind states */ #define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_VALID 64 -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /* group 0 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /* group 1 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /* group 2 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /* group 3 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */ /* raw text load to the mixer parser - ignores offset */ #define PX4IO_PAGE_MIXERLOAD 52 diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 54c5663a5..88ad79398 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -108,6 +108,7 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */ #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 #define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS] #endif +#define r_setup_rc_thr_failsafe r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US]; #define r_control_values (&r_page_controls[0]) diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 42b863b53..6752e7b4b 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -169,14 +169,14 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_SET_DEBUG] = 0, [PX4IO_P_SETUP_REBOOT_BL] = 0, [PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0, + [PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = 0, }; #ifdef CONFIG_ARCH_BOARD_PX4IO_V2 #define PX4IO_P_SETUP_FEATURES_VALID (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | \ PX4IO_P_SETUP_FEATURES_SBUS2_OUT | \ PX4IO_P_SETUP_FEATURES_ADC_RSSI | \ - PX4IO_P_SETUP_FEATURES_PWM_RSSI | \ - PX4IO_P_SETUP_FEATURES_RC_FAIL_DETECT) + PX4IO_P_SETUP_FEATURES_PWM_RSSI) #else #define PX4IO_P_SETUP_FEATURES_VALID 0 #endif -- cgit v1.2.3 From 745ef4f4856af60aca5625860e5e3f25ea189dc9 Mon Sep 17 00:00:00 2001 From: Holger Steinhaus Date: Tue, 25 Mar 2014 15:42:44 +0100 Subject: px4io: do not include failsafe condition into rc_lost flag --- src/modules/px4iofirmware/controls.c | 158 +++++++++++++++++------------------ 1 file changed, 77 insertions(+), 81 deletions(-) (limited to 'src/modules/px4iofirmware/controls.c') diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 941500f0d..609dd3312 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -201,94 +201,90 @@ controls_tick() { /* update RC-received timestamp */ system_state.rc_channels_timestamp_received = hrt_absolute_time(); - /* do not command anything in failsafe, kick in the RC loss counter */ - if (!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { - - /* update RC-received timestamp */ - system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received; - - /* map raw inputs to mapped inputs */ - /* XXX mapping should be atomic relative to protocol */ - for (unsigned i = 0; i < r_raw_rc_count; i++) { - - /* map the input channel */ - uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; - - if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { - - uint16_t raw = r_raw_rc_values[i]; - - int16_t scaled; - - /* - * 1) Constrain to min/max values, as later processing depends on bounds. - */ - if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) - raw = conf[PX4IO_P_RC_CONFIG_MIN]; - if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) - raw = conf[PX4IO_P_RC_CONFIG_MAX]; - - /* - * 2) Scale around the mid point differently for lower and upper range. - * - * This is necessary as they don't share the same endpoints and slope. - * - * First normalize to 0..1 range with correct sign (below or above center), - * then scale to 20000 range (if center is an actual center, -10000..10000, - * if parameters only support half range, scale to 10000 range, e.g. if - * center == min 0..10000, if center == max -10000..0). - * - * As the min and max bounds were enforced in step 1), division by zero - * cannot occur, as for the case of center == min or center == max the if - * statement is mutually exclusive with the arithmetic NaN case. - * - * DO NOT REMOVE OR ALTER STEP 1! - */ - if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); - - } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); - - } else { - /* in the configured dead zone, output zero */ - scaled = 0; - } - - /* invert channel if requested */ - if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) - scaled = -scaled; + /* update RC-received timestamp */ + system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received; + + /* map raw inputs to mapped inputs */ + /* XXX mapping should be atomic relative to protocol */ + for (unsigned i = 0; i < r_raw_rc_count; i++) { + + /* map the input channel */ + uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; + + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { + + uint16_t raw = r_raw_rc_values[i]; + + int16_t scaled; + + /* + * 1) Constrain to min/max values, as later processing depends on bounds. + */ + if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) + raw = conf[PX4IO_P_RC_CONFIG_MIN]; + if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) + raw = conf[PX4IO_P_RC_CONFIG_MAX]; + + /* + * 2) Scale around the mid point differently for lower and upper range. + * + * This is necessary as they don't share the same endpoints and slope. + * + * First normalize to 0..1 range with correct sign (below or above center), + * then scale to 20000 range (if center is an actual center, -10000..10000, + * if parameters only support half range, scale to 10000 range, e.g. if + * center == min 0..10000, if center == max -10000..0). + * + * As the min and max bounds were enforced in step 1), division by zero + * cannot occur, as for the case of center == min or center == max the if + * statement is mutually exclusive with the arithmetic NaN case. + * + * DO NOT REMOVE OR ALTER STEP 1! + */ + if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); + + } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); + + } else { + /* in the configured dead zone, output zero */ + scaled = 0; + } - /* and update the scaled/mapped version */ - unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - if (mapped < PX4IO_CONTROL_CHANNELS) { + /* invert channel if requested */ + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) + scaled = -scaled; - /* invert channel if pitch - pulling the lever down means pitching up by convention */ - if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ - scaled = -scaled; + /* and update the scaled/mapped version */ + unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; + if (mapped < PX4IO_CONTROL_CHANNELS) { - r_rc_values[mapped] = SIGNED_TO_REG(scaled); - assigned_channels |= (1 << mapped); + /* invert channel if pitch - pulling the lever down means pitching up by convention */ + if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ + scaled = -scaled; + + r_rc_values[mapped] = SIGNED_TO_REG(scaled); + assigned_channels |= (1 << mapped); - } } } + } - /* set un-assigned controls to zero */ - for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { - if (!(assigned_channels & (1 << i))) - r_rc_values[i] = 0; - } + /* set un-assigned controls to zero */ + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { + if (!(assigned_channels & (1 << i))) + r_rc_values[i] = 0; + } - /* set RC OK flag, as we got an update */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; + /* set RC OK flag, as we got an update */ + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; - /* if we have enough channels (5) to control the vehicle, the mapping is ok */ - if (assigned_channels > 4) { - r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK; - } else { - r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); - } + /* if we have enough channels (5) to control the vehicle, the mapping is ok */ + if (assigned_channels > 4) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); } /* @@ -316,8 +312,8 @@ controls_tick() { * Handle losing RC input */ - /* this kicks in if the receiver is gone or the system went to failsafe */ - if (rc_input_lost || (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { + /* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */ + if (rc_input_lost) { /* Clear the RC input status flag, clear manual override flag */ r_status_flags &= ~( PX4IO_P_STATUS_FLAGS_OVERRIDE | -- cgit v1.2.3 From 09d106432749ec02866241863eb912f05b903e64 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 5 Apr 2014 11:06:07 +0200 Subject: px4io: Remove unused variable --- src/modules/px4iofirmware/controls.c | 2 -- 1 file changed, 2 deletions(-) (limited to 'src/modules/px4iofirmware/controls.c') diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 609dd3312..f56f630bc 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -134,8 +134,6 @@ controls_tick() { perf_begin(c_gather_sbus); - bool sbus_status = (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS); - bool sbus_failsafe, sbus_frame_drop; bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS); -- cgit v1.2.3 From 3e4841b6fe2d8d6d06b167be49cbe76ab7e04a46 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 5 Apr 2014 11:10:41 +0200 Subject: px4io: Guard against the RC failsafe value of channel 5 causing a manual override action if set to manual in failsafe --- src/modules/px4iofirmware/controls.c | 24 +++++++++++++----------- 1 file changed, 13 insertions(+), 11 deletions(-) (limited to 'src/modules/px4iofirmware/controls.c') diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index f56f630bc..aae7bb951 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -310,6 +310,11 @@ controls_tick() { * Handle losing RC input */ + /* if we are in failsafe, clear the override flag */ + if (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) { + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); + } + /* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */ if (rc_input_lost) { /* Clear the RC input status flag, clear manual override flag */ @@ -320,27 +325,24 @@ controls_tick() { /* Mark all channels as invalid, as we just lost the RX */ r_rc_valid = 0; - /* Set the RC_LOST alarm */ - r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST; - } - - /* this kicks in if the receiver is completely gone */ - if (rc_input_lost) { - /* Set channel count to zero */ r_raw_rc_count = 0; + + /* Set the RC_LOST alarm */ + r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST; } /* * Check for manual override. * * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we - * must have R/C input. + * must have R/C input (NO FAILSAFE!). * Override is enabled if either the hardcoded channel / value combination * is selected, or the AP has requested it. */ if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && + !(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { bool override = false; @@ -363,10 +365,10 @@ controls_tick() { mixer_tick(); } else { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); } } else { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); } } -- cgit v1.2.3