mirror of
https://bitbucket.org/librepilot/librepilot.git
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3b13ad6859
modes so that the FlightMode field is complete in terms of being informative enough git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2935 ebee16cc-31ac-478f-84a7-5cbb03baadba
602 lines
22 KiB
C
602 lines
22 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup ManualControlModule Manual Control Module
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* @brief Provide manual control or allow it alter flight mode.
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* @{
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*
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* Reads in the ManualControlCommand FlightMode setting from receiver then either
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* pass the settings straght to ActuatorDesired object (manual mode) or to
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* AttitudeDesired object (stabilized mode)
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*
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* @file manualcontrol.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief ManualControl module. Handles safety R/C link and flight mode.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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#include "manualcontrol.h"
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#include "manualcontrolsettings.h"
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#include "stabilizationsettings.h"
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#include "manualcontrolcommand.h"
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#include "actuatordesired.h"
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#include "stabilizationdesired.h"
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#include "flighttelemetrystats.h"
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// Private constants
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#if defined(PIOS_MANUAL_STACK_SIZE)
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#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
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#else
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#define STACK_SIZE_BYTES 824
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#endif
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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#define UPDATE_PERIOD_MS 20
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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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//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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// Private types
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typedef enum
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{
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ARM_STATE_DISARMED,
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ARM_STATE_ARMING_MANUAL,
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ARM_STATE_ARMED,
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ARM_STATE_DISARMING_MANUAL,
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ARM_STATE_DISARMING_TIMEOUT
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} ArmState_t;
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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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// 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 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 uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
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static bool okToArm(void);
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#define assumptions1 ( \
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((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
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((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
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((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
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)
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#define assumptions3 ( \
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((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
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((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
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((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
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)
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#define assumptions5 ( \
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((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
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((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
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((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
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)
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#define ARMING_CHANNEL_ROLL 0
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#define ARMING_CHANNEL_PITCH 1
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#define ARMING_CHANNEL_YAW 2
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#define assumptions7 ( \
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( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
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( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
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( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
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( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
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( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \
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( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \
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)
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#define assumptions8 ( \
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( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
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( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
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( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
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( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
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( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
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( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \
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)
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#define assumptions_flightmode ( \
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( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
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( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED1) && \
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( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED2) && \
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( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED3) && \
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( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_VELOCITYCONTROL) && \
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( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_POSITIONHOLD) \
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)
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#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
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/**
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* Module initialization
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*/
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int32_t ManualControlInitialize()
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{
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/* Check the assumptions about uavobject enum's are correct */
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if(!assumptions)
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return -1;
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// Start main task
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xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
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PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
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return 0;
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}
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/**
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* Module task
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*/
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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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cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
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ManualControlCommandSet(&cmd);
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armState = ARM_STATE_DISARMED;
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1) {
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float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
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// Wait until next update
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vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
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PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
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// Read settings
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ManualControlSettingsGet(&settings);
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if (ManualControlCommandReadOnly(&cmd)) {
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FlightTelemetryStatsData flightTelemStats;
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FlightTelemetryStatsGet(&flightTelemStats);
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if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
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/* trying to fly via GCS and lost connection. fall back to transmitter */
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UAVObjMetadata metadata;
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UAVObjGetMetadata(&cmd, &metadata);
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metadata.access = ACCESS_READWRITE;
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UAVObjSetMetadata(&cmd, &metadata);
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}
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}
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if (!ManualControlCommandReadOnly(&cmd)) {
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// Check settings, if error raise alarm
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if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
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settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
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settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
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settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
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settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
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cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
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ManualControlCommandSet(&cmd);
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continue;
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}
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// Read channel values in us
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// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
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// selection of PWM and PPM. The configuration is currently done at compile time in
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// the pios_config.h file.
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for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
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#if defined(PIOS_INCLUDE_PWM)
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cmd.Channel[n] = PIOS_PWM_Get(n);
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#elif defined(PIOS_INCLUDE_PPM)
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cmd.Channel[n] = PIOS_PPM_Get(n);
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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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}
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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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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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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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// Update the ManualControlCommand object
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ManualControlCommandSet(&cmd);
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// This seems silly to set then get, but the reason is if the GCS is
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// the control input, the set command will be blocked by the read only
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// setting and the get command will pull the right values from telemetry
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} else
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ManualControlCommandGet(&cmd); /* Under GCS control */
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// Implement hysteresis loop on connection status
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// Must check both Max and Min in case they reversed
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if (!ManualControlCommandReadOnly(&cmd) &&
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cmd.Channel[settings.Throttle] < settings.ChannelMax[settings.Throttle] - CONNECTION_OFFSET &&
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cmd.Channel[settings.Throttle] < settings.ChannelMin[settings.Throttle] - CONNECTION_OFFSET) {
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if (disconnected_count++ > 10) {
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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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} else
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disconnected_count++;
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} else {
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if (connected_count++ > 10) {
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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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} else
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connected_count++;
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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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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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cmd.Pitch = 0;
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//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
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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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ManualControlCommandSet(&cmd);
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}
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//
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// Arming and Disarming mechanism
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//
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// Look for state changes and write in newArmState
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uint8_t newCmdArmed = cmd.Armed; // By default, keep the arming state the same
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if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
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// In this configuration we always disarm
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newCmdArmed = 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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newCmdArmed = 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 <= -0.90)
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manualArm = true;
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else if (armingInputLevel >= +0.90)
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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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newCmdArmed = 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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newCmdArmed = 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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// Update cmd object when needed
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if (newCmdArmed != cmd.Armed) {
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cmd.Armed = newCmdArmed;
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ManualControlCommandSet(&cmd);
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}
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//
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// End of arming/disarming
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//
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// Depending on the mode update the Stabilization or Actuator objects
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switch(PARSE_FLIGHT_MODE(cmd.FlightMode)) {
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case FLIGHTMODE_UNDEFINED:
|
|
// This reflects a bug in the code architecture!
|
|
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
|
|
break;
|
|
case FLIGHTMODE_MANUAL:
|
|
updateActuatorDesired(&cmd);
|
|
break;
|
|
case FLIGHTMODE_STABILIZED:
|
|
updateStabilizationDesired(&cmd, &settings);
|
|
break;
|
|
case FLIGHTMODE_GUIDANCE:
|
|
// TODO: Implement
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
static void updateActuatorDesired(ManualControlCommandData * cmd)
|
|
{
|
|
ActuatorDesiredData actuator;
|
|
ActuatorDesiredGet(&actuator);
|
|
actuator.Roll = cmd->Roll;
|
|
actuator.Pitch = cmd->Pitch;
|
|
actuator.Yaw = cmd->Yaw;
|
|
actuator.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
|
|
ActuatorDesiredSet(&actuator);
|
|
}
|
|
|
|
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
|
|
{
|
|
StabilizationDesiredData stabilization;
|
|
StabilizationDesiredGet(&stabilization);
|
|
|
|
StabilizationSettingsData stabSettings;
|
|
StabilizationSettingsGet(&stabSettings);
|
|
|
|
uint8_t * stab_settings;
|
|
switch(cmd->FlightMode) {
|
|
case MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED1:
|
|
stab_settings = settings->Stabilization1Settings;
|
|
break;
|
|
case MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED2:
|
|
stab_settings = settings->Stabilization2Settings;
|
|
break;
|
|
case MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED3:
|
|
stab_settings = settings->Stabilization3Settings;
|
|
break;
|
|
default:
|
|
// Major error, this should not occur because only enter this block when one of these is true
|
|
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
|
|
break;
|
|
}
|
|
|
|
// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
|
|
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = stab_settings[0];
|
|
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = stab_settings[1];
|
|
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = stab_settings[2];
|
|
|
|
stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
|
|
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.MaximumRate[STABILIZATIONSETTINGS_MAXIMUMRATE_ROLL] :
|
|
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
|
|
0; // this is an invalid mode
|
|
;
|
|
stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
|
|
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.MaximumRate[STABILIZATIONSETTINGS_MAXIMUMRATE_PITCH] :
|
|
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
|
|
0; // this is an invalid mode
|
|
|
|
stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
|
|
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.MaximumRate[STABILIZATIONSETTINGS_MAXIMUMRATE_YAW] :
|
|
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? fmod(cmd->Yaw * 180.0, 360) :
|
|
0; // this is an invalid mode
|
|
|
|
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
|
|
StabilizationDesiredSet(&stabilization);
|
|
}
|
|
|
|
/**
|
|
* 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, int16_t deadband_percent)
|
|
{
|
|
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;
|
|
}
|
|
|
|
// Neutral RC stick position dead band
|
|
if (deadband_percent > 0)
|
|
{
|
|
if (deadband_percent > 50) deadband_percent = 50; // limit deadband to a maximum of 50%
|
|
float deadband = (float)deadband_percent / 100;
|
|
if (fabs(valueScaled) <= deadband)
|
|
valueScaled = 0; // deadband the value
|
|
else
|
|
if (valueScaled < 0)
|
|
valueScaled = (valueScaled + deadband) / (1.0 - deadband); // value scales 0.0 to -1.0 after deadband
|
|
else
|
|
valueScaled = (valueScaled - deadband) / (1.0 - deadband); // value scales 0.0 to +1.0 after deadband
|
|
}
|
|
|
|
// Bound
|
|
if (valueScaled > 1.0) valueScaled = 1.0;
|
|
else
|
|
if (valueScaled < -1.0) valueScaled = -1.0;
|
|
|
|
return valueScaled;
|
|
}
|
|
|
|
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) {
|
|
if(end_time > start_time)
|
|
return (end_time - start_time) * portTICK_RATE_MS;
|
|
return ((((portTICK_RATE_MS) -1) - start_time) + end_time) * portTICK_RATE_MS;
|
|
}
|
|
|
|
/**
|
|
* @brief Determine if the aircraft is safe to arm
|
|
* @returns True if safe to arm, false otherwise
|
|
*/
|
|
static bool okToArm(void)
|
|
{
|
|
// read alarms
|
|
SystemAlarmsData alarms;
|
|
SystemAlarmsGet(&alarms);
|
|
|
|
|
|
// Check each alarm
|
|
for (int i = 0; i < SYSTEMALARMS_ALARM_NUMELEM; i++)
|
|
{
|
|
if (alarms.Alarm[i] >= SYSTEMALARMS_ALARM_ERROR)
|
|
{ // found an alarm thats set
|
|
if (i == SYSTEMALARMS_ALARM_GPS || i == SYSTEMALARMS_ALARM_TELEMETRY)
|
|
continue;
|
|
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
//
|
|
//static void armingMechanism(uint8_t* armingState, const ManualControlSettingsData* settings, const ManualControlCommandData* cmd)
|
|
//{
|
|
// if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
|
|
// *armingState = MANUALCONTROLCOMMAND_ARMED_FALSE;
|
|
// return;
|
|
// }
|
|
//
|
|
//
|
|
//}
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|