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Modified manual control input value checking to determine RC connection state - was previously checking only the throttle channel for semi-valid input range, it now checks the Throttle, Roll, Yaw and Pitch channels for full-valid values (manual value is within min and max values).

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3146 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip 2011-04-10 14:00:46 +00:00 committed by pip
parent 92944dcfcb
commit 33d9d31082
1 changed files with 48 additions and 3 deletions
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49
flight/Modules/ManualControl/manualcontrol.c
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@ -79,6 +79,7 @@ static void manualControlTask(void *parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral, int16_t deadband_percent); static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral, int16_t deadband_percent);
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time); static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
static bool okToArm(void); static bool okToArm(void);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
#define assumptions1 ( \ #define assumptions1 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \ ((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
@ -262,7 +263,36 @@ static void manualControlTask(void *parameters)
} else } else
ManualControlCommandGet(&cmd); /* Under GCS control */ ManualControlCommandGet(&cmd); /* Under GCS control */
// decide if we have valid manual input or not
bool valid_input_detected = ManualControlCommandReadOnly(&cmd) >= 0;
if (!validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]))
valid_input_detected = FALSE;
if (!validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]))
valid_input_detected = FALSE;
if (!validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]))
valid_input_detected = FALSE;
if (!validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]))
valid_input_detected = FALSE;
// Implement hysteresis loop on connection status
if (valid_input_detected)
{
if (++connected_count > 10)
{
connection_state = CONNECTED;
connected_count = 0;
disconnected_count = 0;
}
}
else
{
if (++disconnected_count > 10)
{
connection_state = DISCONNECTED;
connected_count = 0;
disconnected_count = 0;
}
}
/*
// Implement hysteresis loop on connection status // Implement hysteresis loop on connection status
// Must check both Max and Min in case they reversed // Must check both Max and Min in case they reversed
if (!ManualControlCommandReadOnly(&cmd) && if (!ManualControlCommandReadOnly(&cmd) &&
@ -282,7 +312,7 @@ static void manualControlTask(void *parameters)
} else } else
connected_count++; connected_count++;
} }
*/
if (connection_state == DISCONNECTED) { if (connection_state == DISCONNECTED) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE; cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
cmd.Throttle = -1; // Shut down engine with no control cmd.Throttle = -1; // Shut down engine with no control
@ -585,6 +615,21 @@ static bool okToArm(void)
return true; return true;
} }
/**
* @brief Determine if the manual input value is within acceptable limits
* @returns return TRUE if so, otherwise return FALSE
*/
bool validInputRange(int16_t min, int16_t max, uint16_t value)
{
if (min > max)
{
int16_t tmp = min;
min = max;
max = tmp;
}
return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET);
}
// //
//static void armingMechanism(uint8_t* armingState, const ManualControlSettingsData* settings, const ManualControlCommandData* cmd) //static void armingMechanism(uint8_t* armingState, const ManualControlSettingsData* settings, const ManualControlCommandData* cmd)
//{ //{