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Code Issues Releases Activity

Add stick deadband option for Roll/Pitch/Yaw inputs to firmware

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This commit is contained in:
Oleg Semyonov 2012-01-14 18:18:45 +02:00
parent 5be5fe7aa6
commit 912bea559f
2 changed files with 19 additions and 0 deletions
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17
flight/Modules/ManualControl/manualcontrol.c
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@ -88,6 +88,7 @@ static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutr
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
static bool okToArm(void);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
static void applyDeadband (float *value, float deadband);
#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10
@ -317,6 +318,13 @@ static void manualControlTask(void *parameters)
cmd.Throttle = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE];
flightMode = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE];
// Apply deadband for Roll/Pitch/Yaw stick inputs
if (settings.Deadband) {
applyDeadband(&cmd.Roll, settings.Deadband);
applyDeadband(&cmd.Pitch, settings.Deadband);
applyDeadband(&cmd.Yaw, settings.Deadband);
}
if(cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_INVALID &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_NODRIVER &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_TIMEOUT)
@ -821,6 +829,15 @@ bool validInputRange(int16_t min, int16_t max, uint16_t value)
return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET);
}
/**
* @brief Apply deadband to Roll/Pitch/Yaw channels
*/
static void applyDeadband (float *value, float deadband)
{
if (fabs(*value) < deadband)
*value = 0.0f;
}
/**
* @}
* @}

2
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -13,6 +13,8 @@
<field name="ChannelMax" units="us" type="int16" defaultvalue="2000"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
<field name="Deadband" units="%" type="float" elements="1" defaultvalue="0"/>
<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->