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Code Issues Releases Activity

Flight/ManualControl: Added a hysteresis loop to the manual control connection/disconnection status. I seem to get glitching without it - probably because of the receiver catching noise. It still occasionally glitches but I don't want to make it longer. Probably should be an adjustable setting.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1527 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-04 17:08:04 +00:00 committed by peabody124
parent c21d058110
commit d3b677298c
1 changed files with 25 additions and 1 deletions
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26
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
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@ -82,6 +82,10 @@ static void manualControlTask(void* parameters)
AttitudeDesiredData attitude; AttitudeDesiredData attitude;
portTickType lastSysTime; portTickType lastSysTime;
float flightMode; float flightMode;
uint8_t disconnected_count = 0;
uint8_t connected_count = 0;
enum {CONNECTED, DISCONNECTED} connection_state = DISCONNECTED;
// Main task loop // Main task loop
lastSysTime = xTaskGetTickCount(); lastSysTime = xTaskGetTickCount();
@ -184,10 +188,30 @@ static void manualControlTask(void* parameters)
else else
ManualControlCommandGet(&cmd); /* Under GCS control */ ManualControlCommandGet(&cmd); /* Under GCS control */
// 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 (cmd.Channel[settings.Throttle] < settings.ChannelMax[settings.Throttle] && if (cmd.Channel[settings.Throttle] < settings.ChannelMax[settings.Throttle] &&
cmd.Channel[settings.Throttle] < settings.ChannelMin[settings.Throttle]) cmd.Channel[settings.Throttle] < settings.ChannelMin[settings.Throttle])
{ {
if (disconnected_count++ > 10)
{
connection_state = DISCONNECTED;
connected_count = 0;
disconnected_count = 0;
} else
disconnected_count++;
} else {
if (connected_count++ > 10)
{
connection_state = CONNECTED;
connected_count = 0;
disconnected_count = 0;
}
else
connected_count++;
}
if (connection_state == DISCONNECTED) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE; cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
cmd.Throttle = 0; // Shut down engine with no control cmd.Throttle = 0; // Shut down engine with no control
cmd.Roll = 0; cmd.Roll = 0;