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LibrePilot/flight/modules/Receiver/receiver.c

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup ReceiverModule Manual Control Module
* @brief Provide manual control or allow it alter flight mode.
* @{
*
* Reads in the ManualControlCommand from receiver then
* pass it to ManualControl
*
* @file receiver.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Receiver 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 <accessorydesired.h>
#include <manualcontrolsettings.h>
#include <manualcontrolcommand.h>
#include <receiveractivity.h>
#include <receiverstatus.h>
#include <flightstatus.h>
#include <flighttelemetrystats.h>
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
#include <stabilizationsettings.h>
#include <vtolpathfollowersettings.h>
#endif
#include <flightmodesettings.h>
#include <systemsettings.h>
#include <taskinfo.h>
#include <sanitycheck.h>
#if defined(PIOS_INCLUDE_USB_RCTX)
#include "pios_usb_rctx.h"
#endif /* PIOS_INCLUDE_USB_RCTX */
// Private constants
#if defined(PIOS_RECEIVER_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_RECEIVER_STACK_SIZE
#else
#define STACK_SIZE_BYTES 1152
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 3) // 3 = flight control
#define UPDATE_PERIOD_MS 20
#define THROTTLE_FAILSAFE -0.1f
#define ARMED_THRESHOLD 0.50f
// safe band to allow a bit of calibration error or trim offset (in microseconds)
#define CONNECTION_OFFSET 250
#define ASSISTEDCONTROL_DEADBAND_MINIMUM 0.02f // minimum value for a well bahaved Tx.
// Private types
// Private variables
static xTaskHandle taskHandle;
static portTickType lastSysTime;
static FrameType_t frameType = FRAME_TYPE_MULTIROTOR;
#ifdef USE_INPUT_LPF
static portTickType lastSysTimeLPF;
static float inputFiltered[MANUALCONTROLSETTINGS_RESPONSETIME_NUMELEM];
#endif
// Private functions
static void receiverTask(void *parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
static void applyDeadband(float *value, float deadband);
static void SettingsUpdatedCb(UAVObjEvent *ev);
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
static uint8_t isAssistedFlightMode(uint8_t position);
#endif
#ifdef USE_INPUT_LPF
static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsResponseTimeData *responseTime, float deadband, float dT);
#endif
#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10
struct rcvr_activity_fsm {
ManualControlSettingsChannelGroupsOptions group;
uint16_t prev[RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP];
uint8_t sample_count;
uint8_t quality;
};
static struct rcvr_activity_fsm activity_fsm;
static void resetRcvrActivity(struct rcvr_activity_fsm *fsm);
static bool updateRcvrActivity(struct rcvr_activity_fsm *fsm);
static void resetRcvrStatus(struct rcvr_activity_fsm *fsm);
static bool updateRcvrStatus(
struct rcvr_activity_fsm *fsm,
ManualControlSettingsChannelGroupsOptions group);
#define assumptions \
( \
((int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM) && \
((int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNUMBER_NUMELEM) && \
((int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMIN_NUMELEM) && \
((int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM) && \
((int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNEUTRAL_NUMELEM))
/**
* Module starting
*/
int32_t ReceiverStart()
{
// Start main task
xTaskCreate(receiverTask, "Receiver", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_RECEIVER, taskHandle);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
#endif
SettingsUpdatedCb(NULL);
return 0;
}
/**
* Module initialization
*/
int32_t ReceiverInitialize()
{
/* Check the assumptions about uavobject enum's are correct */
PIOS_STATIC_ASSERT(assumptions);
AccessoryDesiredInitialize();
ManualControlCommandInitialize();
ReceiverActivityInitialize();
ReceiverStatusInitialize();
ManualControlSettingsInitialize();
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
StabilizationSettingsInitialize();
VtolPathFollowerSettingsInitialize();
VtolPathFollowerSettingsConnectCallback(&SettingsUpdatedCb);
#endif
SystemSettingsInitialize();
SystemSettingsConnectCallback(&SettingsUpdatedCb);
return 0;
}
MODULE_INITCALL(ReceiverInitialize, ReceiverStart);
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
frameType = GetCurrentFrameType();
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
uint8_t TreatCustomCraftAs;
VtolPathFollowerSettingsTreatCustomCraftAsGet(&TreatCustomCraftAs);
if (frameType == FRAME_TYPE_CUSTOM) {
switch (TreatCustomCraftAs) {
case VTOLPATHFOLLOWERSETTINGS_TREATCUSTOMCRAFTAS_FIXEDWING:
frameType = FRAME_TYPE_FIXED_WING;
break;
case VTOLPATHFOLLOWERSETTINGS_TREATCUSTOMCRAFTAS_VTOL:
frameType = FRAME_TYPE_MULTIROTOR;
break;
case VTOLPATHFOLLOWERSETTINGS_TREATCUSTOMCRAFTAS_GROUND:
frameType = FRAME_TYPE_GROUND;
break;
}
}
#endif
}
/**
* Module task
*/
static void receiverTask(__attribute__((unused)) void *parameters)
{
ManualControlSettingsData settings;
ManualControlCommandData cmd;
FlightStatusData flightStatus;
uint8_t disconnected_count = 0;
uint8_t connected_count = 0;
// For now manual instantiate extra instances of Accessory Desired. In future should be done dynamically
// this includes not even registering it if not used
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance();
// Whenever the configuration changes, make sure it is safe to fly
ManualControlCommandGet(&cmd);
FlightStatusGet(&flightStatus);
/* Initialize the RcvrActivty FSM */
portTickType lastActivityTime = xTaskGetTickCount();
resetRcvrActivity(&activity_fsm);
resetRcvrStatus(&activity_fsm);
// Main task loop
lastSysTime = xTaskGetTickCount();
float scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM] = { 0 };
SystemSettingsThrustControlOptions thrustType;
while (1) {
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
#endif
// Read settings
ManualControlSettingsGet(&settings);
SystemSettingsThrustControlGet(&thrustType);
/* Update channel activity monitor */
if (flightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) {
if (updateRcvrActivity(&activity_fsm)) {
/* Reset the aging timer because activity was detected */
lastActivityTime = lastSysTime;
}
/* Read signal quality from the group used for the throttle */
(void)updateRcvrStatus(&activity_fsm,
settings.ChannelGroups.Throttle);
}
if (timeDifferenceMs(lastActivityTime, lastSysTime) > 5000) {
resetRcvrActivity(&activity_fsm);
resetRcvrStatus(&activity_fsm);
lastActivityTime = lastSysTime;
}
if (ManualControlCommandReadOnly()) {
FlightTelemetryStatsData flightTelemStats;
FlightTelemetryStatsGet(&flightTelemStats);
if (flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
ManualControlCommandGetMetadata(&metadata);
UAVObjSetAccess(&metadata, ACCESS_READWRITE);
ManualControlCommandSetMetadata(&metadata);
}
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
continue;
}
bool valid_input_detected = true;
// Read channel values in us
for (uint8_t n = 0; n < MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM && n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
extern uint32_t pios_rcvr_group_map[];
if (ManualControlSettingsChannelGroupsToArray(settings.ChannelGroups)[n] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
cmd.Channel[n] = PIOS_RCVR_INVALID;
} else {
cmd.Channel[n] = PIOS_RCVR_Read(pios_rcvr_group_map[
ManualControlSettingsChannelGroupsToArray(settings.ChannelGroups)[n]],
ManualControlSettingsChannelNumberToArray(settings.ChannelNumber)[n]);
}
// If a channel has timed out this is not valid data and we shouldn't update anything
// until we decide to go to failsafe
if (cmd.Channel[n] == (uint16_t)PIOS_RCVR_TIMEOUT) {
valid_input_detected = false;
} else {
scaledChannel[n] = scaleChannel(cmd.Channel[n],
ManualControlSettingsChannelMaxToArray(settings.ChannelMax)[n],
ManualControlSettingsChannelMinToArray(settings.ChannelMin)[n],
ManualControlSettingsChannelNeutralToArray(settings.ChannelNeutral)[n]);
}
}
/* Read signal quality from the group used for the throttle */
(void)updateRcvrStatus(&activity_fsm,
settings.ChannelGroups.Throttle);
// Sanity Check Throttle and Yaw
if (settings.ChannelGroups.Yaw >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
|| settings.ChannelGroups.Throttle >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
||
// Check all channel mappings are valid
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t)PIOS_RCVR_INVALID
|| cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t)PIOS_RCVR_INVALID
||
// Check the driver exists
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t)PIOS_RCVR_NODRIVER
|| cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t)PIOS_RCVR_NODRIVER
||
// Check collective if required
(thrustType == SYSTEMSETTINGS_THRUSTCONTROL_COLLECTIVE && (
settings.ChannelGroups.Collective >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
|| cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] == (uint16_t)PIOS_RCVR_INVALID
|| cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] == (uint16_t)PIOS_RCVR_NODRIVER))
||
// Check the FlightModeNumber is valid
settings.FlightModeNumber < 1 || settings.FlightModeNumber > FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM
||
// Similar checks for FlightMode channel but only if more than one flight mode has been set. Otherwise don't care
((settings.FlightModeNumber > 1) && (frameType != FRAME_TYPE_GROUND)
&& (settings.ChannelGroups.FlightMode >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
|| cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t)PIOS_RCVR_INVALID
|| cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t)PIOS_RCVR_NODRIVER))) {
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
continue;
}
if (frameType != FRAME_TYPE_GROUND) {
// Sanity Check Pitch and Roll
if (settings.ChannelGroups.Roll >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
|| settings.ChannelGroups.Pitch >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE
||
// Check all channel mappings are valid
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t)PIOS_RCVR_INVALID
|| cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t)PIOS_RCVR_INVALID
||
// Check the driver exists
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t)PIOS_RCVR_NODRIVER
|| cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t)PIOS_RCVR_NODRIVER) {
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
continue;
}
}
// decide if we have valid manual input or not
valid_input_detected &= validInputRange(settings.ChannelMin.Throttle,
settings.ChannelMax.Throttle, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE])
&& validInputRange(settings.ChannelMin.Yaw,
settings.ChannelMax.Yaw, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW]);
if (frameType != FRAME_TYPE_GROUND) {
valid_input_detected &= validInputRange(settings.ChannelMin.Roll,
settings.ChannelMax.Roll, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL])
&& validInputRange(settings.ChannelMin.Pitch,
settings.ChannelMax.Pitch, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]);
}
if (settings.ChannelGroups.Collective != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
valid_input_detected &= validInputRange(settings.ChannelMin.Collective,
settings.ChannelMax.Collective, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE]);
}
if (settings.ChannelGroups.Accessory0 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
valid_input_detected &= validInputRange(settings.ChannelMin.Accessory0,
settings.ChannelMax.Accessory0, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0]);
}
if (settings.ChannelGroups.Accessory1 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
valid_input_detected &= validInputRange(settings.ChannelMin.Accessory1,
settings.ChannelMax.Accessory1, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1]);
}
if (settings.ChannelGroups.Accessory2 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
valid_input_detected &= validInputRange(settings.ChannelMin.Accessory2,
settings.ChannelMax.Accessory2, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2]);
}
// Implement hysteresis loop on connection status
if (valid_input_detected && (++connected_count > 10)) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
connected_count = 0;
disconnected_count = 0;
} else if (!valid_input_detected && (++disconnected_count > 10)) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
connected_count = 0;
disconnected_count = 0;
}
if (cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) {
if (frameType != FRAME_TYPE_GROUND) {
cmd.Throttle = settings.FailsafeChannel.Throttle;
} else {
cmd.Throttle = 0.0f;
}
cmd.Roll = settings.FailsafeChannel.Roll;
cmd.Pitch = settings.FailsafeChannel.Pitch;
cmd.Yaw = settings.FailsafeChannel.Yaw;
cmd.Collective = settings.FailsafeChannel.Collective;
switch (thrustType) {
case SYSTEMSETTINGS_THRUSTCONTROL_THROTTLE:
cmd.Thrust = cmd.Throttle;
break;
case SYSTEMSETTINGS_THRUSTCONTROL_COLLECTIVE:
cmd.Thrust = cmd.Collective;
break;
default:
break;
}
if (settings.FailsafeFlightModeSwitchPosition >= 0 && settings.FailsafeFlightModeSwitchPosition < settings.FlightModeNumber) {
cmd.FlightModeSwitchPosition = (uint8_t)settings.FailsafeFlightModeSwitchPosition;
}
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
AccessoryDesiredData accessory;
// Set Accessory 0
if (settings.ChannelGroups.Accessory0 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = settings.FailsafeChannel.Accessory0;
if (AccessoryDesiredInstSet(0, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
// Set Accessory 1
if (settings.ChannelGroups.Accessory1 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = settings.FailsafeChannel.Accessory1;
if (AccessoryDesiredInstSet(1, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
// Set Accessory 2
if (settings.ChannelGroups.Accessory2 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = settings.FailsafeChannel.Accessory2;
if (AccessoryDesiredInstSet(2, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
} else if (valid_input_detected) {
AlarmsClear(SYSTEMALARMS_ALARM_RECEIVER);
// Scale channels to -1 -> +1 range
cmd.Roll = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL];
cmd.Pitch = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH];
cmd.Yaw = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW];
cmd.Throttle = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE];
// Convert flightMode value into the switch position in the range [0..N-1]
cmd.FlightModeSwitchPosition = ((int16_t)(scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] * 256.0f) + 256) * settings.FlightModeNumber >> 9;
if (cmd.FlightModeSwitchPosition >= settings.FlightModeNumber) {
cmd.FlightModeSwitchPosition = settings.FlightModeNumber - 1;
}
float deadband_checked = settings.Deadband;
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
// AssistedControl must have deadband set for pitch/roll hence
// we default to a higher value for badly behaved TXs and also enforce a minimum value
// for well behaved TXs
uint8_t assistedMode = isAssistedFlightMode(cmd.FlightModeSwitchPosition);
if (assistedMode) {
deadband_checked = settings.DeadbandAssistedControl;
if (deadband_checked < ASSISTEDCONTROL_DEADBAND_MINIMUM) {
deadband_checked = ASSISTEDCONTROL_DEADBAND_MINIMUM;
}
// If user has set settings.Deadband to a higher value...we use that.
if (deadband_checked < settings.Deadband) {
deadband_checked = settings.Deadband;
}
}
#endif // PIOS_EXCLUDE_ADVANCED_FEATURES
// Apply deadband for Roll/Pitch/Yaw stick inputs
if (deadband_checked > 0.0f) {
applyDeadband(&cmd.Roll, deadband_checked);
applyDeadband(&cmd.Pitch, deadband_checked);
applyDeadband(&cmd.Yaw, deadband_checked);
if (frameType == FRAME_TYPE_GROUND) { // assumes reversible motors
applyDeadband(&cmd.Throttle, deadband_checked);
}
}
#ifdef USE_INPUT_LPF
// Apply Low Pass Filter to input channels, time delta between calls in ms
portTickType thisSysTime = xTaskGetTickCount();
float dT = (thisSysTime > lastSysTimeLPF) ?
(float)((thisSysTime - lastSysTimeLPF) * portTICK_RATE_MS) :
(float)UPDATE_PERIOD_MS;
lastSysTimeLPF = thisSysTime;
applyLPF(&cmd.Roll, MANUALCONTROLSETTINGS_RESPONSETIME_ROLL, &settings.ResponseTime, deadband_checked, dT);
applyLPF(&cmd.Pitch, MANUALCONTROLSETTINGS_RESPONSETIME_PITCH, &settings.ResponseTime, deadband_checked, dT);
applyLPF(&cmd.Yaw, MANUALCONTROLSETTINGS_RESPONSETIME_YAW, &settings.ResponseTime, deadband_checked, dT);
#endif // USE_INPUT_LPF
if (cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t)PIOS_RCVR_INVALID
&& cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t)PIOS_RCVR_NODRIVER
&& cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t)PIOS_RCVR_TIMEOUT) {
cmd.Collective = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE];
if (settings.Deadband > 0.0f) {
applyDeadband(&cmd.Collective, settings.Deadband);
}
#ifdef USE_INPUT_LPF
applyLPF(&cmd.Collective, MANUALCONTROLSETTINGS_RESPONSETIME_COLLECTIVE, &settings.ResponseTime, settings.Deadband, dT);
#endif // USE_INPUT_LPF
}
switch (thrustType) {
case SYSTEMSETTINGS_THRUSTCONTROL_THROTTLE:
cmd.Thrust = cmd.Throttle;
break;
case SYSTEMSETTINGS_THRUSTCONTROL_COLLECTIVE:
cmd.Thrust = cmd.Collective;
break;
default:
break;
}
AccessoryDesiredData accessory;
// Set Accessory 0
if (settings.ChannelGroups.Accessory0 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0];
#ifdef USE_INPUT_LPF
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY0, &settings.ResponseTime, settings.Deadband, dT);
#endif
if (AccessoryDesiredInstSet(0, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
// Set Accessory 1
if (settings.ChannelGroups.Accessory1 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1];
#ifdef USE_INPUT_LPF
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY1, &settings.ResponseTime, settings.Deadband, dT);
#endif
if (AccessoryDesiredInstSet(1, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
// Set Accessory 2
if (settings.ChannelGroups.Accessory2 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2];
#ifdef USE_INPUT_LPF
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY2, &settings.ResponseTime, settings.Deadband, dT);
#endif
if (AccessoryDesiredInstSet(2, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
}
// Update cmd object
ManualControlCommandSet(&cmd);
#if defined(PIOS_INCLUDE_USB_RCTX)
if (pios_usb_rctx_id) {
PIOS_USB_RCTX_Update(pios_usb_rctx_id,
cmd.Channel,
ManualControlSettingsChannelMinToArray(settings.ChannelMin),
ManualControlSettingsChannelMaxToArray(settings.ChannelMax),
NELEMENTS(cmd.Channel));
}
#endif /* PIOS_INCLUDE_USB_RCTX */
}
}
static void resetRcvrActivity(struct rcvr_activity_fsm *fsm)
{
ReceiverActivityData data;
bool updated = false;
/* Clear all channel activity flags */
ReceiverActivityGet(&data);
if (data.ActiveGroup != RECEIVERACTIVITY_ACTIVEGROUP_NONE && data.ActiveChannel != 255) {
data.ActiveGroup = RECEIVERACTIVITY_ACTIVEGROUP_NONE;
data.ActiveChannel = 255;
updated = true;
}
if (updated) {
ReceiverActivitySet(&data);
}
/* Reset the FSM state */
fsm->group = 0;
fsm->sample_count = 0;
}
static void resetRcvrStatus(struct rcvr_activity_fsm *fsm)
{
/* Reset the state */
fsm->quality = 0;
}
static void updateRcvrActivitySample(uint32_t rcvr_id, uint16_t samples[], uint8_t max_channels)
{
for (uint8_t channel = 1; channel <= max_channels; channel++) {
// Subtract 1 because channels are 1 indexed
samples[channel - 1] = PIOS_RCVR_Read(rcvr_id, channel);
}
}
static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm *fsm)
{
bool activity_updated = false;
/* Compare the current value to the previous sampled value */
for (uint8_t channel = 1; channel <= RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP; channel++) {
uint16_t delta;
uint16_t prev = fsm->prev[channel - 1]; // Subtract 1 because channels are 1 indexed
uint16_t curr = PIOS_RCVR_Read(rcvr_id, channel);
if (curr > prev) {
delta = curr - prev;
} else {
delta = prev - curr;
}
if (delta > RCVR_ACTIVITY_MONITOR_MIN_RANGE) {
/* Mark this channel as active */
ReceiverActivityActiveGroupOptions group;
/* Don't assume manualcontrolsettings and receiveractivity are in the same order. */
switch (fsm->group) {
case MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM:
group = RECEIVERACTIVITY_ACTIVEGROUP_PWM;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM:
group = RECEIVERACTIVITY_ACTIVEGROUP_PPM;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT:
group = RECEIVERACTIVITY_ACTIVEGROUP_DSMMAINPORT;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT:
group = RECEIVERACTIVITY_ACTIVEGROUP_DSMFLEXIPORT;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS:
group = RECEIVERACTIVITY_ACTIVEGROUP_SBUS;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL:
group = RECEIVERACTIVITY_ACTIVEGROUP_SRXL;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS:
group = RECEIVERACTIVITY_ACTIVEGROUP_GCS;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK:
group = RECEIVERACTIVITY_ACTIVEGROUP_OPLINK;
break;
default:
PIOS_Assert(0);
break;
}
ReceiverActivityActiveGroupSet((uint8_t *)&group);
ReceiverActivityActiveChannelSet(&channel);
activity_updated = true;
}
}
return activity_updated;
}
static bool updateRcvrActivity(struct rcvr_activity_fsm *fsm)
{
bool activity_updated = false;
if (fsm->group >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
/* We're out of range, reset things */
resetRcvrActivity(fsm);
resetRcvrStatus(fsm);
}
extern uint32_t pios_rcvr_group_map[];
if (!pios_rcvr_group_map[fsm->group]) {
/* Unbound group, skip it */
goto group_completed;
}
if (fsm->sample_count == 0) {
/* Take a sample of each channel in this group */
updateRcvrActivitySample(pios_rcvr_group_map[fsm->group], fsm->prev, NELEMENTS(fsm->prev));
fsm->sample_count++;
return false;
}
/* Compare with previous sample */
activity_updated = updateRcvrActivityCompare(pios_rcvr_group_map[fsm->group], fsm);
group_completed:
/* Reset the sample counter */
fsm->sample_count = 0;
/* Find the next active group, but limit search so we can't loop forever here */
for (uint8_t i = 0; i < MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE; i++) {
/* Move to the next group */
fsm->group++;
if (fsm->group >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
/* Wrap back to the first group */
fsm->group = 0;
}
if (pios_rcvr_group_map[fsm->group]) {
/*
* Found an active group, take a sample here to avoid an
* extra 20ms delay in the main thread so we can speed up
* this algorithm.
*/
updateRcvrActivitySample(pios_rcvr_group_map[fsm->group], fsm->prev, NELEMENTS(fsm->prev));
fsm->sample_count++;
break;
}
}
return activity_updated;
}
/* Read signal quality from the specified group */
static bool updateRcvrStatus(
struct rcvr_activity_fsm *fsm,
ManualControlSettingsChannelGroupsOptions group)
{
extern uint32_t pios_rcvr_group_map[];
bool activity_updated = false;
int8_t quality;
quality = PIOS_RCVR_GetQuality(pios_rcvr_group_map[group]);
/* If no driver is detected or any other error then return */
if (quality < 0) {
return activity_updated;
}
/* Compare with previous sample */
if (quality != fsm->quality) {
fsm->quality = quality;
ReceiverStatusQualitySet(&fsm->quality);
activity_updated = true;
}
return activity_updated;
}
/**
* 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 > 1.0f) {
valueScaled = 1.0f;
} else if (valueScaled < -1.0f) {
valueScaled = -1.0f;
}
return valueScaled;
}
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
{
return (end_time - start_time) * portTICK_RATE_MS;
}
/**
* @brief Determine if the manual input value is within acceptable limits
* @returns return TRUE if so, otherwise return FALSE
*/
bool validInputRange(int16_t min, int16_t max, uint16_t value)
{
if (min > max) {
int16_t tmp = min;
min = max;
max = tmp;
}
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 (fabsf(*value) < deadband) {
*value = 0.0f;
} else if (*value > 0.0f) {
*value -= deadband;
} else {
*value += deadband;
}
}
#ifdef USE_INPUT_LPF
/**
* @brief Apply Low Pass Filter to Throttle/Roll/Pitch/Yaw or Accessory channel
*/
static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsResponseTimeData *responseTime, float deadband, float dT)
{
float rt = (float)ManualControlSettingsResponseTimeToArray((*responseTime))[channel];
if (rt > 0.0f) {
inputFiltered[channel] = ((rt * inputFiltered[channel]) + (dT * (*value))) / (rt + dT);
// avoid a long tail of non-zero data. if we have deadband, once the filtered result reduces to 1/10th
// of deadband revert to 0. We downstream rely on this to know when sticks are centered.
if (deadband > 0.0f && fabsf(inputFiltered[channel]) < deadband / 10.0f) {
inputFiltered[channel] = 0.0f;
}
*value = inputFiltered[channel];
}
}
#endif // USE_INPUT_LPF
/**
* Check and set modes for gps assisted stablised flight modes
*/
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
static uint8_t isAssistedFlightMode(uint8_t position)
{
uint8_t isAssistedFlag = STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NONE;
uint8_t FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
StabilizationSettingsFlightModeAssistMapGet(FlightModeAssistMap);
if (position < STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM) {
isAssistedFlag = FlightModeAssistMap[position];
}
return isAssistedFlag;
}
#endif
/**
* @}
* @}
*/
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