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LibrePilot/flight/OpenPilot/Modules/ManualControl/manualcontrol.c

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup ManualControlModule Manual Control Module
* @brief Provide manual control or allow it alter flight mode.
* @{
*
* Reads in the ManualControlCommand FlightMode setting from receiver then either
* pass the settings straght to ActuatorDesired object (manual mode) or to
* AttitudeDesired object (stabilized mode)
*
* @file manualcontrol.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief ManualControl module. Handles safety R/C link and flight mode.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "manualcontrol.h"
#include "manualcontrolsettings.h"
#include "stabilizationsettings.h"
#include "manualcontrolcommand.h"
#include "actuatordesired.h"
#include "attitudedesired.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define UPDATE_PERIOD_MS 20
#define THROTTLE_FAILSAFE -0.1
#define FLIGHT_MODE_LIMIT 1.0/3.0
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void manualControlTask(void* parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
/**
* Module initialization
*/
int32_t ManualControlInitialize()
{
// Start main task
xTaskCreate(manualControlTask, (signed char*)"ManualControl", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Module task
*/
static void manualControlTask(void* parameters)
{
ManualControlSettingsData settings;
StabilizationSettingsData stabSettings;
ManualControlCommandData cmd;
ActuatorDesiredData actuator;
AttitudeDesiredData attitude;
portTickType lastSysTime;
float flightMode;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS );
// Read settings
ManualControlSettingsGet(&settings);
StabilizationSettingsGet(&stabSettings);
// Check settings, if error raise alarm
if ( settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE )
{
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
continue;
}
// Read channel values in us
// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
// selection of PWM and PPM. The configuration is currently done at compile time in
// the pios_config.h file.
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n)
{
#if defined(PIOS_INCLUDE_PWM)
cmd.Channel[n] = PIOS_PWM_Get(n);
#elif defined(PIOS_INCLUDE_PPM)
cmd.Channel[n] = PIOS_PPM_Get(n);
#elif defined(PIOS_INCLUDE_SPEKTRUM)
cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
#endif
}
// Calculate roll command in range +1 to -1
cmd.Roll = scaleChannel( cmd.Channel[settings.Roll], settings.ChannelMax[settings.Roll],
settings.ChannelMin[settings.Roll], settings.ChannelNeutral[settings.Roll] );
// Calculate pitch command in range +1 to -1
cmd.Pitch = scaleChannel( cmd.Channel[settings.Pitch], settings.ChannelMax[settings.Pitch],
settings.ChannelMin[settings.Pitch], settings.ChannelNeutral[settings.Pitch] );
// Calculate yaw command in range +1 to -1
cmd.Yaw = scaleChannel( cmd.Channel[settings.Yaw], settings.ChannelMax[settings.Yaw],
settings.ChannelMin[settings.Yaw], settings.ChannelNeutral[settings.Yaw] );
// Calculate throttle command in range +1 to -1
cmd.Throttle = scaleChannel( cmd.Channel[settings.Throttle], settings.ChannelMax[settings.Throttle],
settings.ChannelMin[settings.Throttle], settings.ChannelNeutral[settings.Throttle] );
// Update flight mode
flightMode = scaleChannel( cmd.Channel[settings.FlightMode], settings.ChannelMax[settings.FlightMode],
settings.ChannelMin[settings.FlightMode], settings.ChannelNeutral[settings.FlightMode] );
if (flightMode < -FLIGHT_MODE_LIMIT)
{
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
}
else if (flightMode > FLIGHT_MODE_LIMIT)
{
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
}
else
{
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
}
// Check for connection status (negative throttle values)
// The receiver failsafe for the throttle channel should be set to a value below the channel NEUTRAL
if ( cmd.Throttle < THROTTLE_FAILSAFE )
{
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
else
{
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
if ( cmd.Throttle < 0 )
{
cmd.Throttle = 0;
}
}
// Update the ManualControlCommand object
ManualControlCommandSet(&cmd);
// Depending on the mode update the Stabilization or Actuator objects
if ( cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )
{
actuator.Roll = cmd.Roll;
actuator.Pitch = cmd.Pitch;
actuator.Yaw = cmd.Yaw;
actuator.Throttle = cmd.Throttle;
ActuatorDesiredSet(&actuator);
}
else if ( cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED )
{
attitude.Roll = cmd.Roll*stabSettings.RollMax;
attitude.Pitch = cmd.Pitch*stabSettings.PitchMax;
attitude.Yaw = cmd.Yaw*180.0;
attitude.Throttle = cmd.Throttle*stabSettings.ThrottleMax;
AttitudeDesiredSet(&attitude);
}
}
}
/**
* Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.
*/
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral)
{
float valueScaled;
// Scale
if ( (max > min && value >= neutral) || (min > max && value <= neutral) )
{
if ( max != neutral )
{
valueScaled = (float)(value-neutral)/(float)(max-neutral);
}
else
{
valueScaled = 0;
}
}
else
{
if ( min != neutral )
{
valueScaled = (float)(value-neutral)/(float)(neutral-min);
}
else
{
valueScaled = 0;
}
}
// Bound
if ( valueScaled > 1.0 )
{
valueScaled = 1.0;
}
else if ( valueScaled < -1.0 )
{
valueScaled = -1.0;
}
return valueScaled;
}
/**
* @}
* @}
*/