From d907b030ee618b581e31964a34a61648e88793a3 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Wed, 5 Nov 2014 13:15:52 -0800 Subject: Initialize RSSI so it doesn't remain uninitialized MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Spektrum doesn’t support rssi so it is not set by st24_decode. --- src/modules/px4iofirmware/controls.c | 2 ++ 1 file changed, 2 insertions(+) (limited to 'src/modules/px4iofirmware/controls.c') diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index ad60ee03e..3fd73fc60 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -41,6 +41,7 @@ #include #include +#include #include #include #include @@ -91,6 +92,7 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated) for (unsigned i = 0; i < n_bytes; i++) { /* set updated flag if one complete packet was parsed */ + st24_rssi = RC_INPUT_RSSI_MAX; *st24_updated |= (OK == st24_decode(bytes[i], &st24_rssi, &rx_count, &st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS)); } -- cgit v1.2.3 From ba811254536b6a080d4b3379106bf0e648a51eb0 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 5 Nov 2014 21:20:03 +1100 Subject: px4io: added OVERRIDE_IMMEDIATE arming flag this allows the flight code to choose whether FMU failure gives immediate manual pilot control, or waits for the mode switch to go past the override threshold --- src/drivers/drv_pwm_output.h | 3 +++ src/drivers/px4io/px4io.cpp | 18 ++++++++++++++++-- src/modules/px4iofirmware/controls.c | 9 +++++++++ src/modules/px4iofirmware/protocol.h | 1 + src/modules/px4iofirmware/registers.c | 3 ++- 5 files changed, 31 insertions(+), 3 deletions(-) (limited to 'src/modules/px4iofirmware/controls.c') diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index b41f088eb..edb72f04e 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -242,6 +242,9 @@ ORB_DECLARE(output_pwm); /** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */ #define PWM_SERVO_CLEAR_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 29) +/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */ +#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _IOC(_PWM_SERVO_BASE, 30) + /* * * diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 6a313b322..519ba663a 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -2057,7 +2057,7 @@ PX4IO::print_status(bool extended_status) ((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "") ); uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING); - printf("arming 0x%04x%s%s%s%s%s%s%s%s\n", + printf("arming 0x%04x%s%s%s%s%s%s%s%s%s%s\n", arming, ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"), ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"), @@ -2067,7 +2067,8 @@ PX4IO::print_status(bool extended_status) ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""), ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""), ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""), - ((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : "") + ((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : ""), + ((arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) ? " OVERRIDE_IMMEDIATE" : "") ); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 printf("rates 0x%04x default %u alt %u relays 0x%04x\n", @@ -2307,6 +2308,19 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) } break; + case PWM_SERVO_SET_OVERRIDE_IMMEDIATE: + /* control whether override on FMU failure is + immediate or waits for override threshold on mode + switch */ + if (arg == 0) { + /* clear override immediate flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE, 0); + } else { + /* set override immediate flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE); + } + break; + case DSM_BIND_START: /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */ diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index ad60ee03e..e3cb8d820 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -417,6 +417,15 @@ controls_tick() { if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) override = true; + /* + if the FMU is dead then enable override if we have a + mixer and OVERRIDE_IMMEDIATE is set + */ + if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && + (r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) + override = true; + if (override) { r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 9b2e047cb..c7e9ae3eb 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -183,6 +183,7 @@ #define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */ #define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */ #define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 9) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */ +#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 10) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 49c2a9f56..fbfdd35db 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -191,7 +191,8 @@ volatile uint16_t r_page_setup[] = PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \ PX4IO_P_SETUP_ARMING_LOCKDOWN | \ PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE | \ - PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) + PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE | \ + PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) #define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) -- cgit v1.2.3 From 852fa611730be2433156b010c6162606ec857ef3 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Sun, 16 Nov 2014 14:12:58 -0800 Subject: Correct setting of DSM and ST24 flags --- src/modules/px4iofirmware/controls.c | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) (limited to 'src/modules/px4iofirmware/controls.c') diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 3fd73fc60..75d80ba5d 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -71,7 +71,6 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated) uint8_t *bytes; *dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes); if (*dsm_updated) { - r_raw_rc_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; r_raw_rc_count = temp_count & 0x7fff; if (temp_count & 0x8000) r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11; @@ -172,6 +171,12 @@ controls_tick() { perf_begin(c_gather_dsm); bool dsm_updated, st24_updated; (void)dsm_port_input(&rssi, &dsm_updated, &st24_updated); + if (dsm_updated) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; + } + if (st24_updated) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24; + } perf_end(c_gather_dsm); perf_begin(c_gather_sbus); -- cgit v1.2.3