2010-09-27 09:28:34 +02:00
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup ActuatorModule Actuator Module
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* @brief Compute servo/motor settings based on @ref ActuatorDesired "desired actuator positions" and aircraft type.
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* This is where all the mixing of channels is computed.
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* @{
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*
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* @file actuator.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Actuator module. Drives the actuators (servos, motors etc).
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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2010-12-20 17:38:17 +01:00
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2010-09-27 09:28:34 +02:00
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#include "openpilot.h"
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2011-06-04 22:31:06 +02:00
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#include "accessorydesired.h"
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2010-09-27 09:28:34 +02:00
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#include "actuator.h"
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#include "actuatorsettings.h"
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#include "systemsettings.h"
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#include "actuatordesired.h"
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#include "actuatorcommand.h"
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2011-05-03 18:04:44 +02:00
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#include "flightstatus.h"
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2010-09-27 09:28:34 +02:00
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#include "mixersettings.h"
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#include "mixerstatus.h"
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2011-08-10 04:24:27 +02:00
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#include "cameradesired.h"
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2011-09-07 06:16:34 +02:00
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#include "manualcontrolcommand.h"
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2010-09-27 09:28:34 +02:00
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// Private constants
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#define MAX_QUEUE_SIZE 2
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2011-02-01 03:18:35 +01:00
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#if defined(PIOS_ACTUATOR_STACK_SIZE)
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#define STACK_SIZE_BYTES PIOS_ACTUATOR_STACK_SIZE
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#else
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#define STACK_SIZE_BYTES 1312
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#endif
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2011-01-24 08:52:20 +01:00
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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2010-09-27 09:28:34 +02:00
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#define FAILSAFE_TIMEOUT_MS 100
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2010-10-01 14:33:33 +02:00
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#define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM
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2010-09-27 09:28:34 +02:00
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2012-11-25 12:36:34 +01:00
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#define CAMERA_BOOT_DELAY_MS 7000
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2010-09-27 09:28:34 +02:00
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// Private types
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// Private variables
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2010-10-01 14:33:20 +02:00
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static xQueueHandle queue;
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2010-09-27 09:28:34 +02:00
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static xTaskHandle taskHandle;
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2010-10-03 20:37:07 +02:00
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static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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2012-06-23 22:55:57 +02:00
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// used to inform the actuator thread that actuator update rate is changed
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2012-08-12 01:46:00 +02:00
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static volatile bool actuator_settings_updated;
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// used to inform the actuator thread that mixer settings are changed
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static volatile bool mixer_settings_updated;
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2010-10-03 20:37:07 +02:00
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2010-09-27 09:28:34 +02:00
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// Private functions
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static void actuatorTask(void* parameters);
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static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
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2012-08-12 01:46:00 +02:00
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static void setFailsafe(const ActuatorSettingsData * actuatorSettings, const MixerSettingsData * mixerSettings);
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2011-09-10 02:40:58 +02:00
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static float MixerCurve(const float throttle, const float* curve, uint8_t elements);
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2012-08-12 01:46:00 +02:00
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static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings);
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static void actuator_update_rate_if_changed(const ActuatorSettingsData * actuatorSettings, bool force_update);
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static void MixerSettingsUpdatedCb(UAVObjEvent * ev);
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static void ActuatorSettingsUpdatedCb(UAVObjEvent * ev);
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2010-09-27 09:28:34 +02:00
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float ProcessMixer(const int index, const float curve1, const float curve2,
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2012-08-12 01:46:00 +02:00
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const MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
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2010-09-27 19:30:42 +02:00
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const float period);
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2010-09-27 09:28:34 +02:00
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2010-10-01 14:33:33 +02:00
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//this structure is equivalent to the UAVObjects for one mixer.
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typedef struct {
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uint8_t type;
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2010-10-01 22:28:14 +02:00
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int8_t matrix[5];
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2010-10-01 14:33:33 +02:00
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} __attribute__((packed)) Mixer_t;
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2011-06-20 07:35:40 +02:00
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/**
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* @brief Module initialization
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* @return 0
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*/
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int32_t ActuatorStart()
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{
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// Start main task
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xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
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PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
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return 0;
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}
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2010-10-01 14:33:33 +02:00
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2010-09-27 09:28:34 +02:00
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/**
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* @brief Module initialization
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* @return 0
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*/
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int32_t ActuatorInitialize()
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{
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2012-08-12 01:46:00 +02:00
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// Register for notification of changes to ActuatorSettings
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2011-06-18 18:59:02 +02:00
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ActuatorSettingsInitialize();
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2012-08-12 01:46:00 +02:00
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ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
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// Register for notification of changes to MixerSettings
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2011-06-18 18:59:02 +02:00
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MixerSettingsInitialize();
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2012-08-12 01:46:00 +02:00
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MixerSettingsConnectCallback(MixerSettingsUpdatedCb);
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// Listen for ActuatorDesired updates (Primary input to this module)
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ActuatorDesiredInitialize();
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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ActuatorDesiredConnectQueue(queue);
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// Primary output of this module
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2011-07-30 04:28:21 +02:00
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ActuatorCommandInitialize();
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2012-08-12 01:46:00 +02:00
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2012-08-22 08:25:54 +02:00
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#if defined(MIXERSTATUS_DIAGNOSTICS)
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2012-08-12 01:46:00 +02:00
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// UAVO only used for inspecting the internal status of the mixer during debug
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2011-06-18 18:59:02 +02:00
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MixerStatusInitialize();
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#endif
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2010-09-27 09:28:34 +02:00
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return 0;
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}
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2011-07-13 05:44:32 +02:00
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MODULE_INITCALL(ActuatorInitialize, ActuatorStart)
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2010-09-27 09:28:34 +02:00
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/**
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2011-02-01 03:17:55 +01:00
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* @brief Main Actuator module task
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2010-10-01 14:33:33 +02:00
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*
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* Universal matrix based mixer for VTOL, helis and fixed wing.
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* Converts desired roll,pitch,yaw and throttle to servo/ESC outputs.
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*
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* Because of how the Throttle ranges from 0 to 1, the motors should too!
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*
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* Note this code depends on the UAVObjects for the mixers being all being the same
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* and in sequence. If you change the object definition, make sure you check the code!
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*
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* @return -1 if error, 0 if success
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2010-09-27 09:28:34 +02:00
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*/
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static void actuatorTask(void* parameters)
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{
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2010-10-01 14:33:20 +02:00
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UAVObjEvent ev;
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2010-09-27 09:28:34 +02:00
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portTickType lastSysTime;
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2010-10-01 14:33:33 +02:00
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portTickType thisSysTime;
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2010-11-21 14:09:05 +01:00
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float dT = 0.0f;
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2010-10-03 20:37:07 +02:00
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2011-06-03 06:18:34 +02:00
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ActuatorCommandData command;
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2010-10-01 14:33:33 +02:00
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ActuatorDesiredData desired;
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MixerStatusData mixerStatus;
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2011-05-03 18:04:44 +02:00
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FlightStatusData flightStatus;
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2011-06-03 06:18:34 +02:00
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2012-08-12 01:46:00 +02:00
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/* Read initial values of ActuatorSettings */
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ActuatorSettingsData actuatorSettings;
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actuator_settings_updated = false;
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ActuatorSettingsGet(&actuatorSettings);
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2010-10-03 20:37:07 +02:00
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2012-08-12 01:46:00 +02:00
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/* Read initial values of MixerSettings */
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MixerSettingsData mixerSettings;
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mixer_settings_updated = false;
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MixerSettingsGet(&mixerSettings);
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/* Force an initial configuration of the actuator update rates */
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actuator_update_rate_if_changed(&actuatorSettings, true);
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2010-10-03 20:37:07 +02:00
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2010-09-27 09:28:34 +02:00
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// Go to the neutral (failsafe) values until an ActuatorDesired update is received
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2012-08-12 01:46:00 +02:00
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setFailsafe(&actuatorSettings, &mixerSettings);
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2010-10-01 14:33:33 +02:00
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2010-09-27 09:28:34 +02:00
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1)
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2011-06-23 08:47:55 +02:00
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{
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2011-01-10 01:16:30 +01:00
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PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR);
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2010-11-23 18:13:42 +01:00
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2012-08-12 01:46:00 +02:00
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// Wait until the ActuatorDesired object is updated
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uint8_t rc = xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS);
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/* Process settings updated events even in timeout case so we always act on the latest settings */
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if (actuator_settings_updated) {
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actuator_settings_updated = false;
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ActuatorSettingsGet (&actuatorSettings);
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actuator_update_rate_if_changed (&actuatorSettings, false);
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}
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if (mixer_settings_updated) {
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mixer_settings_updated = false;
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MixerSettingsGet (&mixerSettings);
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2010-10-03 20:37:07 +02:00
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}
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2012-08-12 01:46:00 +02:00
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if (rc != pdTRUE) {
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/* Update of ActuatorDesired timed out. Go to failsafe */
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setFailsafe(&actuatorSettings, &mixerSettings);
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continue;
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2012-06-23 22:55:57 +02:00
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}
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2012-08-12 01:46:00 +02:00
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2010-10-01 14:33:33 +02:00
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// Check how long since last update
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thisSysTime = xTaskGetTickCount();
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if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
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2012-11-25 12:36:34 +01:00
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dT = (thisSysTime - lastSysTime) * (portTICK_RATE_MS * 0.001f);
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2010-10-01 14:33:33 +02:00
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lastSysTime = thisSysTime;
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2010-10-03 20:37:07 +02:00
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2011-05-03 18:04:44 +02:00
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FlightStatusGet(&flightStatus);
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2010-10-01 14:33:33 +02:00
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ActuatorDesiredGet(&desired);
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2010-09-27 09:28:34 +02:00
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ActuatorCommandGet(&command);
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2011-06-03 06:18:34 +02:00
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2012-08-22 08:25:54 +02:00
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#if defined(MIXERSTATUS_DIAGNOSTICS)
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2011-06-17 16:50:10 +02:00
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MixerStatusGet(&mixerStatus);
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#endif
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2010-10-01 14:33:33 +02:00
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int nMixers = 0;
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2010-12-14 00:54:30 +01:00
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Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type;
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2010-10-01 14:33:33 +02:00
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for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
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{
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2010-12-14 00:54:30 +01:00
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if(mixers[ct].type != MIXERSETTINGS_MIXER1TYPE_DISABLED)
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2010-10-01 14:33:33 +02:00
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{
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nMixers ++;
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}
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}
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2011-11-30 08:18:23 +01:00
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if((nMixers < 2) && !ActuatorCommandReadOnly()) //Nothing can fly with less than two mixers.
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2010-09-27 19:30:42 +02:00
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{
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2012-08-12 01:46:00 +02:00
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setFailsafe(&actuatorSettings, &mixerSettings); // So that channels like PWM buzzer keep working
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2010-10-03 20:37:07 +02:00
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continue;
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2010-09-27 19:30:42 +02:00
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}
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2010-10-03 20:37:07 +02:00
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2010-10-01 16:09:14 +02:00
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AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
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2010-10-03 20:37:07 +02:00
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2011-05-03 18:04:44 +02:00
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bool armed = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED;
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2011-11-26 23:12:32 +01:00
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bool positiveThrottle = desired.Throttle >= 0.00f;
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2012-08-12 01:46:00 +02:00
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bool spinWhileArmed = actuatorSettings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
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2011-06-23 08:47:55 +02:00
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2011-09-10 02:40:58 +02:00
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float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1,MIXERSETTINGS_THROTTLECURVE1_NUMELEM);
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2011-06-04 22:31:06 +02:00
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//The source for the secondary curve is selectable
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2011-06-05 15:34:12 +02:00
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float curve2 = 0;
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2011-06-04 22:31:06 +02:00
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AccessoryDesiredData accessory;
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switch(mixerSettings.Curve2Source) {
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case MIXERSETTINGS_CURVE2SOURCE_THROTTLE:
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2011-09-10 02:40:58 +02:00
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curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
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2011-06-04 22:31:06 +02:00
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break;
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case MIXERSETTINGS_CURVE2SOURCE_ROLL:
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2011-09-10 02:40:58 +02:00
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curve2 = MixerCurve(desired.Roll,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
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2011-06-04 22:31:06 +02:00
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break;
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case MIXERSETTINGS_CURVE2SOURCE_PITCH:
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2011-09-10 02:40:58 +02:00
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curve2 = MixerCurve(desired.Pitch,mixerSettings.ThrottleCurve2,
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MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
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2011-06-04 22:31:06 +02:00
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break;
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case MIXERSETTINGS_CURVE2SOURCE_YAW:
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2011-09-10 02:40:58 +02:00
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curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
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2011-06-04 22:31:06 +02:00
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break;
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2011-09-07 06:16:34 +02:00
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case MIXERSETTINGS_CURVE2SOURCE_COLLECTIVE:
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ManualControlCommandCollectiveGet(&curve2);
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2011-09-10 22:54:10 +02:00
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curve2 = MixerCurve(curve2,mixerSettings.ThrottleCurve2,
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MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
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2011-09-07 06:16:34 +02:00
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break;
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2011-06-05 22:30:38 +02:00
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case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0:
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2011-06-04 22:31:06 +02:00
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|
|
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1:
|
|
|
|
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY2:
|
2011-06-06 17:52:02 +02:00
|
|
|
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY3:
|
|
|
|
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY4:
|
|
|
|
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY5:
|
2011-06-05 22:30:38 +02:00
|
|
|
if(AccessoryDesiredInstGet(mixerSettings.Curve2Source - MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0,&accessory) == 0)
|
2011-09-10 02:40:58 +02:00
|
|
|
curve2 = MixerCurve(accessory.AccessoryVal,mixerSettings.ThrottleCurve2,MIXERSETTINGS_THROTTLECURVE2_NUMELEM);
|
2011-06-23 08:47:55 +02:00
|
|
|
else
|
|
|
|
curve2 = 0;
|
2011-06-04 22:31:06 +02:00
|
|
|
break;
|
|
|
|
}
|
2011-06-23 08:47:55 +02:00
|
|
|
|
2012-08-12 01:46:00 +02:00
|
|
|
float * status = (float *)&mixerStatus; //access status objects as an array of floats
|
|
|
|
|
2010-10-01 14:33:33 +02:00
|
|
|
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
|
2010-09-27 19:30:42 +02:00
|
|
|
{
|
2012-11-25 12:36:34 +01:00
|
|
|
// During boot all camera actuators should be completely disabled (PWM pulse = 0).
|
|
|
|
// command.Channel[i] is reused below as a channel PWM activity flag:
|
|
|
|
// 0 - PWM disabled, >0 - PWM set to real mixer value using scaleChannel() later.
|
|
|
|
// Setting it to 1 by default means "Rescale this channel and enable PWM on its output".
|
|
|
|
command.Channel[ct] = 1;
|
|
|
|
|
2011-05-12 03:09:28 +02:00
|
|
|
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
|
|
|
|
// Set to minimum if disabled. This is not the same as saying PWM pulse = 0 us
|
|
|
|
status[ct] = -1;
|
2011-05-05 07:32:15 +02:00
|
|
|
continue;
|
2011-05-12 03:09:28 +02:00
|
|
|
}
|
2011-06-23 08:47:55 +02:00
|
|
|
|
|
|
|
if((mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) || (mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_SERVO))
|
|
|
|
status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
|
|
|
|
else
|
|
|
|
status[ct] = -1;
|
|
|
|
|
2011-05-05 07:32:15 +02:00
|
|
|
// Motors have additional protection for when to be on
|
2011-06-23 08:47:55 +02:00
|
|
|
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
|
2011-05-05 07:32:15 +02:00
|
|
|
|
|
|
|
// If not armed or motors aren't meant to spin all the time
|
|
|
|
if( !armed ||
|
|
|
|
(!spinWhileArmed && !positiveThrottle))
|
2010-10-01 14:33:33 +02:00
|
|
|
{
|
2010-10-03 20:37:07 +02:00
|
|
|
filterAccumulator[ct] = 0;
|
2011-06-23 08:47:55 +02:00
|
|
|
lastResult[ct] = 0;
|
2011-05-05 07:32:15 +02:00
|
|
|
status[ct] = -1; //force min throttle
|
2011-06-23 08:47:55 +02:00
|
|
|
}
|
|
|
|
// If armed meant to keep spinning,
|
2011-05-05 07:32:15 +02:00
|
|
|
else if ((spinWhileArmed && !positiveThrottle) ||
|
|
|
|
(status[ct] < 0) )
|
2011-06-23 08:47:55 +02:00
|
|
|
status[ct] = 0;
|
2010-10-01 14:33:33 +02:00
|
|
|
}
|
2011-06-23 08:47:55 +02:00
|
|
|
|
2011-06-06 17:46:07 +02:00
|
|
|
// If an accessory channel is selected for direct bypass mode
|
|
|
|
// In this configuration the accessory channel is scaled and mapped
|
|
|
|
// directly to output. Note: THERE IS NO SAFETY CHECK HERE FOR ARMING
|
2011-06-23 08:47:55 +02:00
|
|
|
// these also will not be updated in failsafe mode. I'm not sure what
|
2011-06-06 17:46:07 +02:00
|
|
|
// the correct behavior is since it seems domain specific. I don't love
|
|
|
|
// this code
|
2011-06-23 08:47:55 +02:00
|
|
|
if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_ACCESSORY0) &&
|
|
|
|
(mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_ACCESSORY5))
|
2011-06-05 22:30:38 +02:00
|
|
|
{
|
2011-06-06 17:46:07 +02:00
|
|
|
if(AccessoryDesiredInstGet(mixers[ct].type - MIXERSETTINGS_MIXER1TYPE_ACCESSORY0,&accessory) == 0)
|
2011-06-04 22:31:06 +02:00
|
|
|
status[ct] = accessory.AccessoryVal;
|
2011-06-05 15:34:12 +02:00
|
|
|
else
|
|
|
|
status[ct] = -1;
|
2011-06-04 22:31:06 +02:00
|
|
|
}
|
2012-11-25 12:36:34 +01:00
|
|
|
|
2011-08-10 04:24:27 +02:00
|
|
|
if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_CAMERAROLL) &&
|
|
|
|
(mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_CAMERAYAW))
|
|
|
|
{
|
|
|
|
CameraDesiredData cameraDesired;
|
|
|
|
if( CameraDesiredGet(&cameraDesired) == 0 ) {
|
|
|
|
switch(mixers[ct].type) {
|
|
|
|
case MIXERSETTINGS_MIXER1TYPE_CAMERAROLL:
|
|
|
|
status[ct] = cameraDesired.Roll;
|
|
|
|
break;
|
|
|
|
case MIXERSETTINGS_MIXER1TYPE_CAMERAPITCH:
|
|
|
|
status[ct] = cameraDesired.Pitch;
|
|
|
|
break;
|
|
|
|
case MIXERSETTINGS_MIXER1TYPE_CAMERAYAW:
|
|
|
|
status[ct] = cameraDesired.Yaw;
|
|
|
|
break;
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
status[ct] = -1;
|
2012-11-25 12:36:34 +01:00
|
|
|
|
|
|
|
// Disable camera actuators for CAMERA_BOOT_DELAY_MS after boot
|
|
|
|
if (thisSysTime < (CAMERA_BOOT_DELAY_MS / portTICK_RATE_MS))
|
|
|
|
command.Channel[ct] = 0;
|
2011-08-10 04:24:27 +02:00
|
|
|
}
|
2010-09-27 19:30:42 +02:00
|
|
|
}
|
2012-11-25 12:36:34 +01:00
|
|
|
|
|
|
|
// Set real actuator output values scaling them from mixers. All channels
|
|
|
|
// will be set except explicitly disabled (which will have PWM pulse = 0).
|
|
|
|
for (int i = 0; i < MAX_MIX_ACTUATORS; i++)
|
|
|
|
if (command.Channel[i])
|
|
|
|
command.Channel[i] = scaleChannel(status[i],
|
2012-08-12 01:46:00 +02:00
|
|
|
actuatorSettings.ChannelMax[i],
|
|
|
|
actuatorSettings.ChannelMin[i],
|
|
|
|
actuatorSettings.ChannelNeutral[i]);
|
2012-11-25 12:36:34 +01:00
|
|
|
|
2011-01-10 02:11:44 +01:00
|
|
|
// Store update time
|
2012-11-25 12:36:34 +01:00
|
|
|
command.UpdateTime = dT * 1000.0f;
|
|
|
|
if (command.UpdateTime > command.MaxUpdateTime)
|
|
|
|
command.MaxUpdateTime = command.UpdateTime;
|
2011-11-26 23:12:32 +01:00
|
|
|
|
2010-09-27 09:28:34 +02:00
|
|
|
// Update output object
|
|
|
|
ActuatorCommandSet(&command);
|
|
|
|
// Update in case read only (eg. during servo configuration)
|
|
|
|
ActuatorCommandGet(&command);
|
2010-10-03 20:37:07 +02:00
|
|
|
|
2012-08-22 08:25:54 +02:00
|
|
|
#if defined(MIXERSTATUS_DIAGNOSTICS)
|
2011-11-26 23:12:32 +01:00
|
|
|
MixerStatusSet(&mixerStatus);
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
2010-09-27 09:28:34 +02:00
|
|
|
// Update servo outputs
|
2011-01-10 02:11:44 +01:00
|
|
|
bool success = true;
|
2011-06-23 08:47:55 +02:00
|
|
|
|
2010-09-27 09:28:34 +02:00
|
|
|
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
|
|
|
|
{
|
2012-08-12 01:46:00 +02:00
|
|
|
success &= set_channel(n, command.Channel[n], &actuatorSettings);
|
2011-01-10 02:11:44 +01:00
|
|
|
}
|
|
|
|
|
|
|
|
if(!success) {
|
|
|
|
command.NumFailedUpdates++;
|
|
|
|
ActuatorCommandSet(&command);
|
2011-06-23 08:47:55 +02:00
|
|
|
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
|
2010-09-27 09:28:34 +02:00
|
|
|
}
|
2011-01-10 02:11:44 +01:00
|
|
|
|
2010-09-27 09:28:34 +02:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
*Process mixing for one actuator
|
2010-09-27 19:30:42 +02:00
|
|
|
*/
|
2010-09-27 09:28:34 +02:00
|
|
|
float ProcessMixer(const int index, const float curve1, const float curve2,
|
2012-08-12 01:46:00 +02:00
|
|
|
const MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
|
2010-09-27 09:28:34 +02:00
|
|
|
{
|
2012-08-12 01:46:00 +02:00
|
|
|
static float lastFilteredResult[MAX_MIX_ACTUATORS];
|
|
|
|
const Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
|
|
|
|
const Mixer_t * mixer = &mixers[index];
|
|
|
|
|
2011-11-26 23:12:32 +01:00
|
|
|
float result = (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE1] / 128.0f) * curve1) +
|
2012-08-12 01:46:00 +02:00
|
|
|
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2] / 128.0f) * curve2) +
|
|
|
|
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL] / 128.0f) * desired->Roll) +
|
|
|
|
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH] / 128.0f) * desired->Pitch) +
|
|
|
|
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW] / 128.0f) * desired->Yaw);
|
|
|
|
|
2010-12-14 00:54:30 +01:00
|
|
|
if(mixer->type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
|
2010-09-27 19:30:42 +02:00
|
|
|
{
|
2011-11-26 23:12:32 +01:00
|
|
|
if(result < 0.0f) //idle throttle
|
2010-09-27 19:30:42 +02:00
|
|
|
{
|
2011-11-26 23:12:32 +01:00
|
|
|
result = 0.0f;
|
2010-09-27 19:30:42 +02:00
|
|
|
}
|
2010-10-03 20:37:07 +02:00
|
|
|
|
2010-09-27 19:30:42 +02:00
|
|
|
//feed forward
|
|
|
|
float accumulator = filterAccumulator[index];
|
|
|
|
accumulator += (result - lastResult[index]) * mixerSettings->FeedForward;
|
|
|
|
lastResult[index] = result;
|
|
|
|
result += accumulator;
|
2010-10-03 20:37:07 +02:00
|
|
|
if(period !=0)
|
2010-09-27 19:30:42 +02:00
|
|
|
{
|
2011-11-26 23:12:32 +01:00
|
|
|
if(accumulator > 0.0f)
|
2010-09-27 19:30:42 +02:00
|
|
|
{
|
2010-10-03 20:37:07 +02:00
|
|
|
float filter = mixerSettings->AccelTime / period;
|
|
|
|
if(filter <1)
|
|
|
|
{
|
|
|
|
filter = 1;
|
|
|
|
}
|
|
|
|
accumulator -= accumulator / filter;
|
|
|
|
}else
|
2010-09-27 19:30:42 +02:00
|
|
|
{
|
2010-10-03 20:37:07 +02:00
|
|
|
float filter = mixerSettings->DecelTime / period;
|
|
|
|
if(filter <1)
|
|
|
|
{
|
|
|
|
filter = 1;
|
|
|
|
}
|
|
|
|
accumulator -= accumulator / filter;
|
2010-09-27 19:30:42 +02:00
|
|
|
}
|
|
|
|
}
|
|
|
|
filterAccumulator[index] = accumulator;
|
|
|
|
result += accumulator;
|
2010-10-03 20:37:07 +02:00
|
|
|
|
2010-09-27 19:30:42 +02:00
|
|
|
//acceleration limit
|
|
|
|
float dt = result - lastFilteredResult[index];
|
2010-10-01 16:37:03 +02:00
|
|
|
float maxDt = mixerSettings->MaxAccel * period;
|
2010-09-27 19:30:42 +02:00
|
|
|
if(dt > maxDt) //we are accelerating too hard
|
|
|
|
{
|
|
|
|
result = lastFilteredResult[index] + maxDt;
|
|
|
|
}
|
|
|
|
lastFilteredResult[index] = result;
|
|
|
|
}
|
2011-11-26 23:12:32 +01:00
|
|
|
|
2010-09-27 19:30:42 +02:00
|
|
|
return(result);
|
2010-09-27 09:28:34 +02:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
*Interpolate a throttle curve. Throttle input should be in the range 0 to 1.
|
|
|
|
*Output is in the range 0 to 1.
|
2010-09-27 19:30:42 +02:00
|
|
|
*/
|
2011-09-10 02:40:58 +02:00
|
|
|
static float MixerCurve(const float throttle, const float* curve, uint8_t elements)
|
2010-09-27 09:28:34 +02:00
|
|
|
{
|
2011-11-26 23:12:32 +01:00
|
|
|
float scale = throttle * (float) (elements - 1);
|
2010-09-27 19:30:42 +02:00
|
|
|
int idx1 = scale;
|
|
|
|
scale -= (float)idx1; //remainder
|
|
|
|
if(curve[0] < -1)
|
|
|
|
{
|
|
|
|
return(throttle);
|
|
|
|
}
|
|
|
|
if (idx1 < 0)
|
|
|
|
{
|
|
|
|
idx1 = 0; //clamp to lowest entry in table
|
|
|
|
scale = 0;
|
|
|
|
}
|
|
|
|
int idx2 = idx1 + 1;
|
2011-09-10 02:40:58 +02:00
|
|
|
if(idx2 >= elements)
|
2010-09-27 19:30:42 +02:00
|
|
|
{
|
2011-09-10 02:40:58 +02:00
|
|
|
idx2 = elements -1; //clamp to highest entry in table
|
|
|
|
if(idx1 >= elements)
|
2010-09-27 19:30:42 +02:00
|
|
|
{
|
2011-09-10 02:40:58 +02:00
|
|
|
idx1 = elements -1;
|
2010-09-27 19:30:42 +02:00
|
|
|
}
|
|
|
|
}
|
2011-11-26 23:12:32 +01:00
|
|
|
return curve[idx1] * (1.0f - scale) + curve[idx2] * scale;
|
2010-09-27 09:28:34 +02:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Convert channel from -1/+1 to servo pulse duration in microseconds
|
|
|
|
*/
|
|
|
|
static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral)
|
|
|
|
{
|
|
|
|
int16_t valueScaled;
|
|
|
|
// Scale
|
2011-11-26 23:12:32 +01:00
|
|
|
if ( value >= 0.0f)
|
2010-09-27 09:28:34 +02:00
|
|
|
{
|
|
|
|
valueScaled = (int16_t)(value*((float)(max-neutral))) + neutral;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
valueScaled = (int16_t)(value*((float)(neutral-min))) + neutral;
|
|
|
|
}
|
2010-10-03 20:37:07 +02:00
|
|
|
|
2010-09-27 09:28:34 +02:00
|
|
|
if (max>min)
|
|
|
|
{
|
|
|
|
if( valueScaled > max ) valueScaled = max;
|
|
|
|
if( valueScaled < min ) valueScaled = min;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
if( valueScaled < max ) valueScaled = max;
|
|
|
|
if( valueScaled > min ) valueScaled = min;
|
|
|
|
}
|
2010-10-03 20:37:07 +02:00
|
|
|
|
2010-09-27 09:28:34 +02:00
|
|
|
return valueScaled;
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Set actuator output to the neutral values (failsafe)
|
|
|
|
*/
|
2012-08-12 01:46:00 +02:00
|
|
|
static void setFailsafe(const ActuatorSettingsData * actuatorSettings, const MixerSettingsData * mixerSettings)
|
2010-09-27 09:28:34 +02:00
|
|
|
{
|
2012-08-12 01:46:00 +02:00
|
|
|
/* grab only the parts that we are going to use */
|
2011-06-03 06:18:34 +02:00
|
|
|
int16_t Channel[ACTUATORCOMMAND_CHANNEL_NUMELEM];
|
|
|
|
ActuatorCommandChannelGet(Channel);
|
2010-10-05 16:47:48 +02:00
|
|
|
|
2012-08-12 01:46:00 +02:00
|
|
|
const Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
|
2010-10-05 16:47:48 +02:00
|
|
|
|
|
|
|
// Reset ActuatorCommand to safe values
|
2010-09-27 09:28:34 +02:00
|
|
|
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
|
|
|
|
{
|
2011-06-23 08:47:55 +02:00
|
|
|
|
2010-12-14 00:54:30 +01:00
|
|
|
if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
|
2010-10-05 16:47:48 +02:00
|
|
|
{
|
2012-08-12 01:46:00 +02:00
|
|
|
Channel[n] = actuatorSettings->ChannelMin[n];
|
2010-10-05 16:47:48 +02:00
|
|
|
}
|
2011-05-12 03:09:28 +02:00
|
|
|
else if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_SERVO)
|
2010-10-05 16:47:48 +02:00
|
|
|
{
|
2012-08-12 01:46:00 +02:00
|
|
|
Channel[n] = actuatorSettings->ChannelNeutral[n];
|
2010-10-05 16:47:48 +02:00
|
|
|
}
|
2011-05-12 03:09:28 +02:00
|
|
|
else
|
|
|
|
{
|
2011-06-03 06:18:34 +02:00
|
|
|
Channel[n] = 0;
|
2011-05-12 03:09:28 +02:00
|
|
|
}
|
2011-11-26 23:12:32 +01:00
|
|
|
|
|
|
|
|
2010-09-27 09:28:34 +02:00
|
|
|
}
|
2010-10-03 20:37:07 +02:00
|
|
|
|
2010-09-27 09:28:34 +02:00
|
|
|
// Set alarm
|
|
|
|
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
|
2010-10-03 20:37:07 +02:00
|
|
|
|
2010-09-27 09:28:34 +02:00
|
|
|
// Update servo outputs
|
|
|
|
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
|
|
|
|
{
|
2012-08-12 01:46:00 +02:00
|
|
|
set_channel(n, Channel[n], actuatorSettings);
|
2010-09-27 09:28:34 +02:00
|
|
|
}
|
2010-10-03 20:37:07 +02:00
|
|
|
|
2011-06-03 06:18:34 +02:00
|
|
|
// Update output object's parts that we changed
|
2011-11-26 22:51:24 +01:00
|
|
|
ActuatorCommandChannelSet(Channel);
|
2010-09-27 09:28:34 +02:00
|
|
|
}
|
|
|
|
|
2011-01-12 01:39:18 +01:00
|
|
|
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
|
2012-08-12 01:46:00 +02:00
|
|
|
static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings)
|
|
|
|
{
|
2011-01-12 01:39:18 +01:00
|
|
|
return true;
|
|
|
|
}
|
|
|
|
#else
|
2012-08-12 01:46:00 +02:00
|
|
|
static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings)
|
|
|
|
{
|
|
|
|
switch(actuatorSettings->ChannelType[mixer_channel]) {
|
2011-03-12 10:02:02 +01:00
|
|
|
case ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER: {
|
|
|
|
// This is for buzzers that take a PWM input
|
2011-03-13 18:02:19 +01:00
|
|
|
|
|
|
|
static uint32_t currBuzzTune = 0;
|
|
|
|
static uint32_t currBuzzTuneState;
|
|
|
|
uint32_t bewBuzzTune;
|
|
|
|
|
|
|
|
// Decide what tune to play
|
|
|
|
if (AlarmsGet(SYSTEMALARMS_ALARM_BATTERY) > SYSTEMALARMS_ALARM_WARNING) {
|
|
|
|
bewBuzzTune = 0b11110110110000; // pause, short, short, short, long
|
|
|
|
} else if (AlarmsGet(SYSTEMALARMS_ALARM_GPS) >= SYSTEMALARMS_ALARM_WARNING) {
|
|
|
|
bewBuzzTune = 0x80000000; // pause, short
|
|
|
|
} else {
|
|
|
|
bewBuzzTune = 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
// Do we need to change tune?
|
|
|
|
if (bewBuzzTune != currBuzzTune) {
|
|
|
|
currBuzzTune = bewBuzzTune;
|
|
|
|
currBuzzTuneState = currBuzzTune;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// Play tune
|
|
|
|
bool buzzOn = false;
|
2011-03-12 10:02:02 +01:00
|
|
|
static portTickType lastSysTime = 0;
|
|
|
|
portTickType thisSysTime = xTaskGetTickCount();
|
|
|
|
portTickType dT = 0;
|
|
|
|
|
|
|
|
// For now, only look at the battery alarm, because functions like AlarmsHasCritical() can block for some time; to be discussed
|
2011-03-13 18:02:19 +01:00
|
|
|
if (currBuzzTune) {
|
2011-03-12 10:02:02 +01:00
|
|
|
if(thisSysTime > lastSysTime)
|
|
|
|
dT = thisSysTime - lastSysTime;
|
2011-03-13 18:02:19 +01:00
|
|
|
buzzOn = (currBuzzTuneState&1); // Buzz when the LS bit is 1
|
2011-03-12 10:02:02 +01:00
|
|
|
if (dT > 80) {
|
|
|
|
// Go to next bit in alarm_seq_state
|
2011-03-13 18:02:19 +01:00
|
|
|
currBuzzTuneState >>= 1;
|
|
|
|
if (currBuzzTuneState == 0)
|
|
|
|
currBuzzTuneState = currBuzzTune; // All done, re-start the tune
|
2011-03-12 10:02:02 +01:00
|
|
|
lastSysTime = thisSysTime;
|
|
|
|
}
|
|
|
|
}
|
2012-08-12 01:46:00 +02:00
|
|
|
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel],
|
|
|
|
buzzOn?actuatorSettings->ChannelMax[mixer_channel]:actuatorSettings->ChannelMin[mixer_channel]);
|
2011-03-12 10:02:02 +01:00
|
|
|
return true;
|
|
|
|
}
|
2011-01-10 02:11:44 +01:00
|
|
|
case ACTUATORSETTINGS_CHANNELTYPE_PWM:
|
2012-08-12 01:46:00 +02:00
|
|
|
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value);
|
2011-01-10 02:11:44 +01:00
|
|
|
return true;
|
2011-02-20 08:14:02 +01:00
|
|
|
#if defined(PIOS_INCLUDE_I2C_ESC)
|
2011-06-23 08:47:55 +02:00
|
|
|
case ACTUATORSETTINGS_CHANNELTYPE_MK:
|
2012-08-12 01:46:00 +02:00
|
|
|
return PIOS_SetMKSpeed(actuatorSettings->ChannelAddr[mixer_channel],value);
|
2011-01-10 02:11:44 +01:00
|
|
|
case ACTUATORSETTINGS_CHANNELTYPE_ASTEC4:
|
2012-08-12 01:46:00 +02:00
|
|
|
return PIOS_SetAstec4Speed(actuatorSettings->ChannelAddr[mixer_channel],value);
|
2011-01-10 02:11:44 +01:00
|
|
|
break;
|
2011-02-20 08:14:02 +01:00
|
|
|
#endif
|
2011-01-10 02:11:44 +01:00
|
|
|
default:
|
|
|
|
return false;
|
2011-06-23 08:47:55 +02:00
|
|
|
}
|
|
|
|
|
2011-01-10 02:11:44 +01:00
|
|
|
return false;
|
2011-06-23 08:47:55 +02:00
|
|
|
|
2011-01-10 02:11:44 +01:00
|
|
|
}
|
2011-01-12 01:39:18 +01:00
|
|
|
#endif
|
2011-01-10 02:11:44 +01:00
|
|
|
|
2012-08-12 01:46:00 +02:00
|
|
|
/**
|
|
|
|
* @brief Update the servo update rate
|
|
|
|
*/
|
|
|
|
static void actuator_update_rate_if_changed(const ActuatorSettingsData * actuatorSettings, bool force_update)
|
|
|
|
{
|
|
|
|
static uint16_t prevChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
|
|
|
|
|
|
|
|
// check if the any rate setting is changed
|
|
|
|
if (force_update ||
|
|
|
|
memcmp (prevChannelUpdateFreq,
|
|
|
|
actuatorSettings->ChannelUpdateFreq,
|
|
|
|
sizeof(prevChannelUpdateFreq)) != 0) {
|
|
|
|
/* Something has changed, apply the settings to HW */
|
|
|
|
memcpy (prevChannelUpdateFreq,
|
|
|
|
actuatorSettings->ChannelUpdateFreq,
|
|
|
|
sizeof(prevChannelUpdateFreq));
|
|
|
|
PIOS_Servo_SetHz(actuatorSettings->ChannelUpdateFreq, ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
static void ActuatorSettingsUpdatedCb(UAVObjEvent * ev)
|
|
|
|
{
|
|
|
|
actuator_settings_updated = true;
|
|
|
|
}
|
|
|
|
|
|
|
|
static void MixerSettingsUpdatedCb(UAVObjEvent * ev)
|
|
|
|
{
|
|
|
|
mixer_settings_updated = true;
|
|
|
|
}
|
2010-09-27 09:28:34 +02:00
|
|
|
|
|
|
|
/**
|
|
|
|
* @}
|
2010-09-27 19:30:42 +02:00
|
|
|
* @}
|
|
|
|
*/
|