mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
d928676f5e
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1121 ebee16cc-31ac-478f-84a7-5cbb03baadba
242 lines
7.7 KiB
C
242 lines
7.7 KiB
C
/**
|
|
******************************************************************************
|
|
* @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;
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/ |