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264 lines
7.7 KiB
C
264 lines
7.7 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) 2014.
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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 "inc/manualcontrol.h"
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#include <sanitycheck.h>
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#include <manualcontrolsettings.h>
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#include <manualcontrolcommand.h>
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#include <flightmodesettings.h>
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#include <flightstatus.h>
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#include <systemsettings.h>
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#include <stabilizationdesired.h>
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#include <callbackinfo.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 1152
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#endif
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#define CALLBACK_PRIORITY CALLBACK_PRIORITY_REGULAR
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#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
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// defined handlers
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static const controlHandler handler_MANUAL = {
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.controlChain = {
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.Stabilization = false,
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.PathFollower = false,
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.PathPlanner = false,
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},
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.handler = &manualHandler,
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};
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static const controlHandler handler_STABILIZED = {
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.controlChain = {
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.Stabilization = true,
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.PathFollower = false,
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.PathPlanner = false,
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},
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.handler = &stabilizedHandler,
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};
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static const controlHandler handler_AUTOTUNE = {
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.controlChain = {
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.Stabilization = false,
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.PathFollower = false,
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.PathPlanner = false,
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},
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.handler = NULL,
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};
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#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
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static const controlHandler handler_PATHFOLLOWER = {
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.controlChain = {
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.Stabilization = true,
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.PathFollower = true,
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.PathPlanner = false,
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},
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.handler = &pathFollowerHandler,
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};
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static const controlHandler handler_PATHPLANNER = {
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.controlChain = {
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.Stabilization = true,
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.PathFollower = true,
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.PathPlanner = true,
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},
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.handler = &pathPlannerHandler,
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};
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#endif /* ifndef PIOS_EXCLUDE_ADVANCED_FEATURES */
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// Private variables
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static DelayedCallbackInfo *callbackHandle;
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// Private functions
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static void configurationUpdatedCb(UAVObjEvent *ev);
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static void commandUpdatedCb(UAVObjEvent *ev);
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static void manualControlTask(void);
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#define assumptions (assumptions1 && assumptions2 && assumptions3 && assumptions4 && assumptions5 && assumptions6 && assumptions7 && assumptions_flightmode)
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/**
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* Module starting
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*/
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int32_t ManualControlStart()
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{
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// Run this initially to make sure the configuration is checked
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configuration_check();
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// Whenever the configuration changes, make sure it is safe to fly
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SystemSettingsConnectCallback(configurationUpdatedCb);
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ManualControlSettingsConnectCallback(configurationUpdatedCb);
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ManualControlCommandConnectCallback(commandUpdatedCb);
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// clear alarms
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AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
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// Make sure unarmed on power up
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armHandler(true);
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#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
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takeOffLocationHandlerInit();
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#endif
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// Start main task
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PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle);
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return 0;
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}
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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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PIOS_STATIC_ASSERT(assumptions);
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ManualControlCommandInitialize();
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FlightStatusInitialize();
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ManualControlSettingsInitialize();
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FlightModeSettingsInitialize();
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SystemSettingsInitialize();
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callbackHandle = PIOS_CALLBACKSCHEDULER_Create(&manualControlTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_MANUALCONTROL, STACK_SIZE_BYTES);
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return 0;
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}
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MODULE_INITCALL(ManualControlInitialize, ManualControlStart);
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/**
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* Module task
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*/
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static void manualControlTask(void)
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{
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// Process Arming
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armHandler(false);
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#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
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takeOffLocationHandler();
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#endif
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// Process flight mode
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FlightStatusData flightStatus;
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FlightStatusGet(&flightStatus);
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ManualControlCommandData cmd;
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ManualControlCommandGet(&cmd);
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FlightModeSettingsData modeSettings;
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FlightModeSettingsGet(&modeSettings);
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uint8_t position = cmd.FlightModeSwitchPosition;
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uint8_t newMode = flightStatus.FlightMode;
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if (position < FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM) {
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newMode = modeSettings.FlightModePosition[position];
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}
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// Depending on the mode update the Stabilization or Actuator objects
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const controlHandler *handler = &handler_MANUAL;
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switch (newMode) {
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case FLIGHTSTATUS_FLIGHTMODE_MANUAL:
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handler = &handler_MANUAL;
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break;
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case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
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case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
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case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
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case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
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case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
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case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
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handler = &handler_STABILIZED;
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break;
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#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOFPV:
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOLOS:
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIONSEW:
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case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
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case FLIGHTSTATUS_FLIGHTMODE_LAND:
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case FLIGHTSTATUS_FLIGHTMODE_POI:
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case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
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handler = &handler_PATHFOLLOWER;
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break;
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case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER:
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handler = &handler_PATHPLANNER;
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break;
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#endif
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case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE:
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handler = &handler_AUTOTUNE;
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break;
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// There is no default, so if a flightmode is forgotten the compiler can throw a warning!
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}
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bool newinit = false;
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// FlightMode needs to be set correctly on first run (otherwise ControlChain is invalid)
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static bool firstRun = true;
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if (flightStatus.FlightMode != newMode || firstRun) {
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firstRun = false;
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flightStatus.ControlChain = handler->controlChain;
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flightStatus.FlightMode = newMode;
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FlightStatusSet(&flightStatus);
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newinit = true;
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}
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if (handler->handler) {
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handler->handler(newinit);
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}
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}
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/**
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* Called whenever a critical configuration component changes
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*/
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static void configurationUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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configuration_check();
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}
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/**
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* Called whenever a critical configuration component changes
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*/
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static void commandUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle);
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}
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/**
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* @}
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* @}
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*/
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