mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
Restructure the ManualControlCommand code to be much more readable. Also
facilitates the new FlightMode object.
This commit is contained in:
James Cotton
parent
d1fb254a41
commit
e2819c6815
@ -54,6 +54,7 @@
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#define THROTTLE_FAILSAFE -0.1
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#define FLIGHT_MODE_LIMIT 1.0/3.0
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#define ARMED_TIME_MS 1000
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#define ARMED_THRESHOLD 0.50
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//safe band to allow a bit of calibration error or trim offset (in microseconds)
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#define CONNECTION_OFFSET 150
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@ -70,13 +71,16 @@ typedef enum
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// Private variables
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static xTaskHandle taskHandle;
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static ArmState_t armState;
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static portTickType lastSysTime;
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// Private functions
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static void updateActuatorDesired(ManualControlCommandData * cmd);
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static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
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static void processFlightMode(ManualControlCommandData * cmd, ManualControlSettingsData * settings, float flightMode);
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static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
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static void manualControlTask(void *parameters);
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static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral, int16_t deadband_percent);
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static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
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static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
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static bool okToArm(void);
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static bool validInputRange(int16_t min, int16_t max, uint16_t value);
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@ -159,13 +163,11 @@ static void manualControlTask(void *parameters)
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{
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ManualControlSettingsData settings;
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ManualControlCommandData cmd;
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portTickType lastSysTime;
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float flightMode = 0;
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uint8_t disconnected_count = 0;
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uint8_t connected_count = 0;
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enum { CONNECTED, DISCONNECTED } connection_state = DISCONNECTED;
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// Make sure unarmed on power up
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ManualControlCommandGet(&cmd);
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@ -211,7 +213,7 @@ static void manualControlTask(void *parameters)
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#elif defined(PIOS_INCLUDE_SPEKTRUM)
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cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
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#endif
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scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n], 0);
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scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
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}
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// Check settings, if error raise alarm
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@ -227,38 +229,23 @@ static void manualControlTask(void *parameters)
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}
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// decide if we have valid manual input or not
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bool valid_input_detected = TRUE;
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if (!validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]))
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valid_input_detected = FALSE;
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if (!validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]))
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valid_input_detected = FALSE;
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if (!validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]))
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valid_input_detected = FALSE;
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if (!validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]))
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valid_input_detected = FALSE;
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bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) &&
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validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) &&
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validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) &&
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validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]);
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// Implement hysteresis loop on connection status
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if (valid_input_detected)
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{
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if (++connected_count > 10)
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{
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connection_state = CONNECTED;
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connected_count = 0;
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disconnected_count = 0;
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}
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}
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else
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{
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if (++disconnected_count > 10)
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{
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connection_state = DISCONNECTED;
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connected_count = 0;
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disconnected_count = 0;
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}
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if (valid_input_detected && (++connected_count > 10)) {
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cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
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connected_count = 0;
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disconnected_count = 0;
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} else if (!valid_input_detected && (++disconnected_count > 10)) {
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cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
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connected_count = 0;
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disconnected_count = 0;
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}
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if (connection_state == DISCONNECTED) {
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cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
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if (cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) {
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cmd.Throttle = -1; // Shut down engine with no control
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cmd.Roll = 0;
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cmd.Yaw = 0;
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@ -269,161 +256,22 @@ static void manualControlTask(void *parameters)
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
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ManualControlCommandSet(&cmd);
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} else {
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cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
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AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
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// Scale channels to -1 -> +1 range
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cmd.Roll = scaledChannel[settings.Roll];
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cmd.Pitch = scaledChannel[settings.Pitch];
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cmd.Yaw = scaledChannel[settings.Yaw];
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cmd.Throttle = scaledChannel[settings.Throttle];
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flightMode = scaledChannel[settings.FlightMode];
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cmd.Roll = scaledChannel[settings.Roll];
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cmd.Pitch = scaledChannel[settings.Pitch];
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cmd.Yaw = scaledChannel[settings.Yaw];
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cmd.Throttle = scaledChannel[settings.Throttle];
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flightMode = scaledChannel[settings.FlightMode];
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if (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE)
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cmd.Accessory1 = scaledChannel[settings.Accessory1];
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else
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cmd.Accessory1 = 0;
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// Set accessory channels
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cmd.Accessory1 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) ? scaledChannel[settings.Accessory1] : 0;
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cmd.Accessory2 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) ? scaledChannel[settings.Accessory2] : 0;
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cmd.Accessory3 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE) ? scaledChannel[settings.Accessory3] : 0;
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if (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE)
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cmd.Accessory2 = scaledChannel[settings.Accessory2];
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else
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cmd.Accessory2 = 0;
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if (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE)
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cmd.Accessory3 = scaledChannel[settings.Accessory3];
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else
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cmd.Accessory3 = 0;
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// Note here the code is ass
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if (flightMode < -FLIGHT_MODE_LIMIT)
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cmd.FlightMode = settings.FlightModePosition[0];
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else if (flightMode > FLIGHT_MODE_LIMIT)
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cmd.FlightMode = settings.FlightModePosition[2];
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else
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cmd.FlightMode = settings.FlightModePosition[1];
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//
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// Arming and Disarming mechanism
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//
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if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
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// In this configuration we always disarm
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cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
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} else {
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// In all other cases, we will not change the arm state when disconnected
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if (connection_state == CONNECTED)
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{
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if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
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// In this configuration, we go into armed state as soon as the throttle is low, never disarm
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if (cmd.Throttle < 0) {
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cmd.Armed = MANUALCONTROLCOMMAND_ARMED_TRUE;
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}
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} else {
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// When the configuration is not "Always armed" and no "Always disarmed",
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// the state will not be changed when the throttle is not low
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if (cmd.Throttle < 0) {
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static portTickType armedDisarmStart;
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float armingInputLevel = 0;
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// Calc channel see assumptions7
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switch ( (settings.Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
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case ARMING_CHANNEL_ROLL: armingInputLevel = cmd.Roll; break;
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case ARMING_CHANNEL_PITCH: armingInputLevel = cmd.Pitch; break;
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case ARMING_CHANNEL_YAW: armingInputLevel = cmd.Yaw; break;
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}
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bool manualArm = false;
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bool manualDisarm = false;
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if (connection_state == CONNECTED) {
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// Should use RC input only if RX is connected
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if (armingInputLevel <= -0.50)
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manualArm = true;
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else if (armingInputLevel >= +0.50)
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manualDisarm = true;
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}
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// Swap arm-disarming see assumptions8
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if ((settings.Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) {
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bool temp = manualArm;
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manualArm = manualDisarm;
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manualDisarm = temp;
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}
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switch(armState) {
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case ARM_STATE_DISARMED:
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cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
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if (manualArm)
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{
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if (okToArm()) // only allow arming if it's OK too
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{
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armedDisarmStart = lastSysTime;
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armState = ARM_STATE_ARMING_MANUAL;
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}
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}
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break;
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case ARM_STATE_ARMING_MANUAL:
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if (manualArm) {
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if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
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armState = ARM_STATE_ARMED;
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}
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else
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armState = ARM_STATE_DISARMED;
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break;
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case ARM_STATE_ARMED:
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// When we get here, the throttle is low,
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// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
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armedDisarmStart = lastSysTime;
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armState = ARM_STATE_DISARMING_TIMEOUT;
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cmd.Armed = MANUALCONTROLCOMMAND_ARMED_TRUE;
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break;
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case ARM_STATE_DISARMING_TIMEOUT:
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// We get here when armed while throttle low, even when the arming timeout is not enabled
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if (settings.ArmedTimeout != 0)
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if (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.ArmedTimeout)
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armState = ARM_STATE_DISARMED;
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// Switch to disarming due to manual control when needed
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if (manualDisarm) {
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armedDisarmStart = lastSysTime;
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armState = ARM_STATE_DISARMING_MANUAL;
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}
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break;
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case ARM_STATE_DISARMING_MANUAL:
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if (manualDisarm) {
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if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
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armState = ARM_STATE_DISARMED;
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}
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else
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armState = ARM_STATE_ARMED;
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break;
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} // End Switch
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} else {
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// The throttle is not low, in case we where arming or disarming, abort
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switch(armState) {
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case ARM_STATE_DISARMING_MANUAL:
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case ARM_STATE_DISARMING_TIMEOUT:
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armState = ARM_STATE_ARMED;
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break;
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case ARM_STATE_ARMING_MANUAL:
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armState = ARM_STATE_DISARMED;
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break;
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default:
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// Nothing needs to be done in the other states
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break;
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}
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}
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}
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}
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}
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//
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// End of arming/disarming
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//
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processFlightMode(&cmd, &settings, flightMode);
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processArm(&cmd, &settings);
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// Update cmd object
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ManualControlCommandSet(&cmd);
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@ -517,7 +365,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
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/**
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* Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.
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*/
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static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral, int16_t deadband_percent)
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static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral)
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{
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float valueScaled;
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@ -537,20 +385,6 @@ static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutr
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valueScaled = 0;
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}
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// Neutral RC stick position dead band
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if (deadband_percent > 0)
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{
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if (deadband_percent > 50) deadband_percent = 50; // limit deadband to a maximum of 50%
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float deadband = (float)deadband_percent / 100;
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if (fabs(valueScaled) <= deadband)
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valueScaled = 0; // deadband the value
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else
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if (valueScaled < 0)
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valueScaled = (valueScaled + deadband) / (1.0 - deadband); // value scales 0.0 to -1.0 after deadband
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else
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valueScaled = (valueScaled - deadband) / (1.0 - deadband); // value scales 0.0 to +1.0 after deadband
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}
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// Bound
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if (valueScaled > 1.0) valueScaled = 1.0;
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else
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@ -591,6 +425,134 @@ static bool okToArm(void)
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return true;
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}
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/**
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* @brief Process the inputs and determine whether to arm or not
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* @param[out] cmd The structure to set the armed in
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* @param[in] settings Settings indicating the necessary position
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*/
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static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
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{
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bool lowThrottle = cmd->Throttle <= 0;
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if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
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// In this configuration we always disarm
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cmd->Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
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} else {
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// Not really needed since this function not called when disconnected
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if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE)
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return;
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// The throttle is not low, in case we where arming or disarming, abort
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if (!lowThrottle) {
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switch(armState) {
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case ARM_STATE_DISARMING_MANUAL:
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case ARM_STATE_DISARMING_TIMEOUT:
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armState = ARM_STATE_ARMED;
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break;
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case ARM_STATE_ARMING_MANUAL:
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armState = ARM_STATE_DISARMED;
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break;
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default:
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// Nothing needs to be done in the other states
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break;
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}
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return;
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}
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// The rest of these cases throttle is low
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if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
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// In this configuration, we go into armed state as soon as the throttle is low, never disarm
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cmd->Armed = MANUALCONTROLCOMMAND_ARMED_TRUE;
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return;
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}
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// When the configuration is not "Always armed" and no "Always disarmed",
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// the state will not be changed when the throttle is not low
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static portTickType armedDisarmStart;
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float armingInputLevel = 0;
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// Calc channel see assumptions7
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int8_t sign = ((settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) ? -1 : 1;
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switch ( (settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
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case ARMING_CHANNEL_ROLL: armingInputLevel = sign * cmd->Roll; break;
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case ARMING_CHANNEL_PITCH: armingInputLevel = sign * cmd->Pitch; break;
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case ARMING_CHANNEL_YAW: armingInputLevel = sign * cmd->Yaw; break;
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}
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bool manualArm = false;
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bool manualDisarm = false;
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if (armingInputLevel <= -ARMED_THRESHOLD)
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manualArm = true;
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else if (armingInputLevel >= +ARMED_THRESHOLD)
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manualDisarm = true;
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switch(armState) {
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case ARM_STATE_DISARMED:
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cmd->Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
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// only allow arming if it's OK too
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if (manualArm && okToArm()) {
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armedDisarmStart = lastSysTime;
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armState = ARM_STATE_ARMING_MANUAL;
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}
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break;
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case ARM_STATE_ARMING_MANUAL:
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if (manualArm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
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armState = ARM_STATE_ARMED;
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else if (!manualArm)
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armState = ARM_STATE_DISARMED;
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break;
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case ARM_STATE_ARMED:
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// When we get here, the throttle is low,
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// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
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armedDisarmStart = lastSysTime;
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armState = ARM_STATE_DISARMING_TIMEOUT;
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cmd->Armed = MANUALCONTROLCOMMAND_ARMED_TRUE;
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break;
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case ARM_STATE_DISARMING_TIMEOUT:
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// We get here when armed while throttle low, even when the arming timeout is not enabled
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if ((settings->ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings->ArmedTimeout))
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armState = ARM_STATE_DISARMED;
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// Switch to disarming due to manual control when needed
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if (manualDisarm) {
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armedDisarmStart = lastSysTime;
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armState = ARM_STATE_DISARMING_MANUAL;
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}
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break;
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case ARM_STATE_DISARMING_MANUAL:
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if (manualDisarm &&(timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
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armState = ARM_STATE_DISARMED;
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else if (!manualDisarm)
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armState = ARM_STATE_ARMED;
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break;
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} // End Switch
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}
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}
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/**
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* @brief Determine which of three positions the flight mode switch is in and set flight mode accordingly
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* @param[out] cmd Pointer to the command structure to set the flight mode in
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* @param[in] settings The settings which indicate which position is which mode
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* @param[in] flightMode the value of the switch position
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*/
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static void processFlightMode(ManualControlCommandData * cmd, ManualControlSettingsData * settings, float flightMode)
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{
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// Note here the code is ass
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if (flightMode < -FLIGHT_MODE_LIMIT)
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||||
cmd->FlightMode = settings->FlightModePosition[0];
|
||||
else if (flightMode > FLIGHT_MODE_LIMIT)
|
||||
cmd->FlightMode = settings->FlightModePosition[2];
|
||||
else
|
||||
cmd->FlightMode = settings->FlightModePosition[1];
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Determine if the manual input value is within acceptable limits
|
||||
* @returns return TRUE if so, otherwise return FALSE
|
||||
@ -606,16 +568,6 @@ bool validInputRange(int16_t min, int16_t max, uint16_t value)
|
||||
return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET);
|
||||
}
|
||||
|
||||
//
|
||||
//static void armingMechanism(uint8_t* armingState, const ManualControlSettingsData* settings, const ManualControlCommandData* cmd)
|
||||
//{
|
||||
// if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
|
||||
// *armingState = MANUALCONTROLCOMMAND_ARMED_FALSE;
|
||||
// return;
|
||||
// }
|
||||
//
|
||||
//
|
||||
//}
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user