mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
beedb7fdad
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2927 ebee16cc-31ac-478f-84a7-5cbb03baadba
600 lines
22 KiB
C
600 lines
22 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"
|
|
#include "flighttelemetrystats.h"
|
|
|
|
// Private constants
|
|
#if defined(PIOS_MANUAL_STACK_SIZE)
|
|
#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
|
|
#else
|
|
#define STACK_SIZE_BYTES 824
|
|
#endif
|
|
|
|
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
|
|
#define UPDATE_PERIOD_MS 20
|
|
#define THROTTLE_FAILSAFE -0.1
|
|
#define FLIGHT_MODE_LIMIT 1.0/3.0
|
|
#define ARMED_TIME_MS 1000
|
|
//safe band to allow a bit of calibration error or trim offset (in microseconds)
|
|
#define CONNECTION_OFFSET 150
|
|
|
|
// Private types
|
|
typedef enum
|
|
{
|
|
ARM_STATE_DISARMED,
|
|
ARM_STATE_ARMING_MANUAL,
|
|
ARM_STATE_ARMED,
|
|
ARM_STATE_DISARMING_MANUAL,
|
|
ARM_STATE_DISARMING_TIMEOUT
|
|
} ArmState_t;
|
|
|
|
// Private variables
|
|
static xTaskHandle taskHandle;
|
|
static ArmState_t armState;
|
|
|
|
// Private functions
|
|
static void manualControlTask(void *parameters);
|
|
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral, int16_t deadband_percent);
|
|
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
|
|
static bool okToArm(void);
|
|
|
|
#define assumptions1 ( \
|
|
((int)MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NONE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \
|
|
((int)MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \
|
|
((int)MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_ATTITUDE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \
|
|
)
|
|
|
|
#define assumptions2 ( \
|
|
((int)MANUALCONTROLSETTINGS_POS1FLIGHTMODE_MANUAL == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
|
|
((int)MANUALCONTROLSETTINGS_POS1FLIGHTMODE_STABILIZED == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \
|
|
((int)MANUALCONTROLSETTINGS_POS1FLIGHTMODE_AUTO == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \
|
|
)
|
|
|
|
#define assumptions3 ( \
|
|
((int)MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \
|
|
((int)MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \
|
|
((int)MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_ATTITUDE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \
|
|
)
|
|
|
|
#define assumptions4 ( \
|
|
((int)MANUALCONTROLSETTINGS_POS2FLIGHTMODE_MANUAL == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
|
|
((int)MANUALCONTROLSETTINGS_POS2FLIGHTMODE_STABILIZED == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \
|
|
((int)MANUALCONTROLSETTINGS_POS2FLIGHTMODE_AUTO == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \
|
|
)
|
|
|
|
#define assumptions5 ( \
|
|
((int)MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \
|
|
((int)MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \
|
|
((int)MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_ATTITUDE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \
|
|
)
|
|
|
|
#define assumptions6 ( \
|
|
((int)MANUALCONTROLSETTINGS_POS3FLIGHTMODE_MANUAL == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
|
|
((int)MANUALCONTROLSETTINGS_POS3FLIGHTMODE_STABILIZED == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \
|
|
((int)MANUALCONTROLSETTINGS_POS3FLIGHTMODE_AUTO == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \
|
|
)
|
|
|
|
|
|
#define ARMING_CHANNEL_ROLL 0
|
|
#define ARMING_CHANNEL_PITCH 1
|
|
#define ARMING_CHANNEL_YAW 2
|
|
|
|
#define assumptions7 ( \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \
|
|
)
|
|
|
|
#define assumptions8 ( \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \
|
|
)
|
|
|
|
|
|
|
|
|
|
|
|
#define assumptions (assumptions1 && assumptions2 && assumptions3 && assumptions4 && assumptions5 && assumptions6 && assumptions7 && assumptions8)
|
|
|
|
/**
|
|
* Module initialization
|
|
*/
|
|
int32_t ManualControlInitialize()
|
|
{
|
|
// The following line compiles to nothing when the assumptions are correct
|
|
if (!assumptions)
|
|
return 1;
|
|
// In case the assumptions are incorrect, this module will not initialise and so will not function
|
|
|
|
// Start main task
|
|
xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
|
|
TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
|
|
PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
|
|
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Module task
|
|
*/
|
|
static void manualControlTask(void *parameters)
|
|
{
|
|
ManualControlSettingsData settings;
|
|
StabilizationSettingsData stabSettings;
|
|
ManualControlCommandData cmd;
|
|
ActuatorDesiredData actuator;
|
|
AttitudeDesiredData attitude;
|
|
portTickType lastSysTime;
|
|
|
|
|
|
float flightMode;
|
|
|
|
uint8_t disconnected_count = 0;
|
|
uint8_t connected_count = 0;
|
|
enum { CONNECTED, DISCONNECTED } connection_state = DISCONNECTED;
|
|
|
|
// Make sure unarmed on power up
|
|
ManualControlCommandGet(&cmd);
|
|
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
|
|
ManualControlCommandSet(&cmd);
|
|
armState = ARM_STATE_DISARMED;
|
|
|
|
// Main task loop
|
|
lastSysTime = xTaskGetTickCount();
|
|
while (1) {
|
|
float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
|
|
|
|
// Wait until next update
|
|
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
|
|
PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
|
|
|
|
// Read settings
|
|
ManualControlSettingsGet(&settings);
|
|
StabilizationSettingsGet(&stabSettings);
|
|
|
|
if (ManualControlCommandReadOnly(&cmd)) {
|
|
FlightTelemetryStatsData flightTelemStats;
|
|
FlightTelemetryStatsGet(&flightTelemStats);
|
|
if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
|
|
/* trying to fly via GCS and lost connection. fall back to transmitter */
|
|
UAVObjMetadata metadata;
|
|
UAVObjGetMetadata(&cmd, &metadata);
|
|
metadata.access = ACCESS_READWRITE;
|
|
UAVObjSetMetadata(&cmd, &metadata);
|
|
}
|
|
}
|
|
|
|
if (!ManualControlCommandReadOnly(&cmd)) {
|
|
|
|
// 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
|
|
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n], 0);
|
|
}
|
|
|
|
// Scale channels to -1 -> +1 range
|
|
cmd.Roll = scaledChannel[settings.Roll];
|
|
cmd.Pitch = scaledChannel[settings.Pitch];
|
|
cmd.Yaw = scaledChannel[settings.Yaw];
|
|
cmd.Throttle = scaledChannel[settings.Throttle];
|
|
flightMode = scaledChannel[settings.FlightMode];
|
|
|
|
if (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE)
|
|
cmd.Accessory1 = scaledChannel[settings.Accessory1];
|
|
else
|
|
cmd.Accessory1 = 0;
|
|
|
|
if (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE)
|
|
cmd.Accessory2 = scaledChannel[settings.Accessory2];
|
|
else
|
|
cmd.Accessory2 = 0;
|
|
|
|
if (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE)
|
|
cmd.Accessory3 = scaledChannel[settings.Accessory3];
|
|
else
|
|
cmd.Accessory3 = 0;
|
|
|
|
if (flightMode < -FLIGHT_MODE_LIMIT) {
|
|
// Position 1
|
|
for(int i = 0; i < 3; i++) {
|
|
cmd.StabilizationSettings[i] = settings.Pos1StabilizationSettings[i]; // See assumptions1
|
|
}
|
|
cmd.FlightMode = settings.Pos1FlightMode; // See assumptions2
|
|
} else if (flightMode > FLIGHT_MODE_LIMIT) {
|
|
// Position 3
|
|
for(int i = 0; i < 3; i++) {
|
|
cmd.StabilizationSettings[i] = settings.Pos3StabilizationSettings[i]; // See assumptions5
|
|
}
|
|
cmd.FlightMode = settings.Pos3FlightMode; // See assumptions6
|
|
} else {
|
|
// Position 2
|
|
for(int i = 0; i < 3; i++) {
|
|
cmd.StabilizationSettings[i] = settings.Pos2StabilizationSettings[i]; // See assumptions3
|
|
}
|
|
cmd.FlightMode = settings.Pos2FlightMode; // See assumptions4
|
|
}
|
|
// Update the ManualControlCommand object
|
|
ManualControlCommandSet(&cmd);
|
|
// This seems silly to set then get, but the reason is if the GCS is
|
|
// the control input, the set command will be blocked by the read only
|
|
// setting and the get command will pull the right values from telemetry
|
|
} else
|
|
ManualControlCommandGet(&cmd); /* Under GCS control */
|
|
|
|
|
|
// Implement hysteresis loop on connection status
|
|
// Must check both Max and Min in case they reversed
|
|
if (!ManualControlCommandReadOnly(&cmd) &&
|
|
cmd.Channel[settings.Throttle] < settings.ChannelMax[settings.Throttle] - CONNECTION_OFFSET &&
|
|
cmd.Channel[settings.Throttle] < settings.ChannelMin[settings.Throttle] - CONNECTION_OFFSET) {
|
|
if (disconnected_count++ > 10) {
|
|
connection_state = DISCONNECTED;
|
|
connected_count = 0;
|
|
disconnected_count = 0;
|
|
} else
|
|
disconnected_count++;
|
|
} else {
|
|
if (connected_count++ > 10) {
|
|
connection_state = CONNECTED;
|
|
connected_count = 0;
|
|
disconnected_count = 0;
|
|
} else
|
|
connected_count++;
|
|
}
|
|
|
|
if (connection_state == DISCONNECTED) {
|
|
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
|
|
cmd.Throttle = -1; // Shut down engine with no control
|
|
cmd.Roll = 0;
|
|
cmd.Yaw = 0;
|
|
cmd.Pitch = 0;
|
|
//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
|
|
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
|
|
ManualControlCommandSet(&cmd);
|
|
} else {
|
|
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
|
|
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
|
|
ManualControlCommandSet(&cmd);
|
|
}
|
|
|
|
//
|
|
// Arming and Disarming mechanism
|
|
//
|
|
// Look for state changes and write in newArmState
|
|
uint8_t newCmdArmed = cmd.Armed; // By default, keep the arming state the same
|
|
|
|
if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
|
|
// In this configuration we always disarm
|
|
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_FALSE;
|
|
} else {
|
|
// In all other cases, we will not change the arm state when disconnected
|
|
if (connection_state == CONNECTED)
|
|
{
|
|
if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
|
|
// In this configuration, we go into armed state as soon as the throttle is low, never disarm
|
|
if (cmd.Throttle < 0) {
|
|
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_TRUE;
|
|
}
|
|
} else {
|
|
// When the configuration is not "Always armed" and no "Always disarmed",
|
|
// the state will not be changed when the throttle is not low
|
|
if (cmd.Throttle < 0) {
|
|
static portTickType armedDisarmStart;
|
|
float armingInputLevel = 0;
|
|
|
|
// Calc channel see assumptions7
|
|
switch ( (settings.Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
|
|
case ARMING_CHANNEL_ROLL: armingInputLevel = cmd.Roll; break;
|
|
case ARMING_CHANNEL_PITCH: armingInputLevel = cmd.Pitch; break;
|
|
case ARMING_CHANNEL_YAW: armingInputLevel = cmd.Yaw; break;
|
|
}
|
|
|
|
bool manualArm = false;
|
|
bool manualDisarm = false;
|
|
|
|
if (connection_state == CONNECTED) {
|
|
// Should use RC input only if RX is connected
|
|
if (armingInputLevel <= -0.90)
|
|
manualArm = true;
|
|
else if (armingInputLevel >= +0.90)
|
|
manualDisarm = true;
|
|
}
|
|
|
|
// Swap arm-disarming see assumptions8
|
|
if ((settings.Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) {
|
|
bool temp = manualArm;
|
|
manualArm = manualDisarm;
|
|
manualDisarm = temp;
|
|
}
|
|
|
|
switch(armState) {
|
|
case ARM_STATE_DISARMED:
|
|
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_FALSE;
|
|
|
|
if (manualArm)
|
|
{
|
|
if (okToArm()) // only allow arming if it's OK too
|
|
{
|
|
armedDisarmStart = lastSysTime;
|
|
armState = ARM_STATE_ARMING_MANUAL;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case ARM_STATE_ARMING_MANUAL:
|
|
if (manualArm) {
|
|
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
|
|
armState = ARM_STATE_ARMED;
|
|
}
|
|
else
|
|
armState = ARM_STATE_DISARMED;
|
|
break;
|
|
|
|
case ARM_STATE_ARMED:
|
|
// When we get here, the throttle is low,
|
|
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
|
|
armedDisarmStart = lastSysTime;
|
|
armState = ARM_STATE_DISARMING_TIMEOUT;
|
|
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_TRUE;
|
|
break;
|
|
|
|
case ARM_STATE_DISARMING_TIMEOUT:
|
|
// We get here when armed while throttle low, even when the arming timeout is not enabled
|
|
if (settings.ArmedTimeout != 0)
|
|
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.ArmedTimeout)
|
|
armState = ARM_STATE_DISARMED;
|
|
// Switch to disarming due to manual control when needed
|
|
if (manualDisarm) {
|
|
armedDisarmStart = lastSysTime;
|
|
armState = ARM_STATE_DISARMING_MANUAL;
|
|
}
|
|
break;
|
|
|
|
case ARM_STATE_DISARMING_MANUAL:
|
|
if (manualDisarm) {
|
|
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
|
|
armState = ARM_STATE_DISARMED;
|
|
}
|
|
else
|
|
armState = ARM_STATE_ARMED;
|
|
break;
|
|
} // End Switch
|
|
} else {
|
|
// The throttle is not low, in case we where arming or disarming, abort
|
|
switch(armState) {
|
|
case ARM_STATE_DISARMING_MANUAL:
|
|
case ARM_STATE_DISARMING_TIMEOUT:
|
|
armState = ARM_STATE_ARMED;
|
|
break;
|
|
case ARM_STATE_ARMING_MANUAL:
|
|
armState = ARM_STATE_DISARMED;
|
|
break;
|
|
default:
|
|
// Nothing needs to be done in the other states
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
// Update cmd object when needed
|
|
if (newCmdArmed != cmd.Armed) {
|
|
cmd.Armed = newCmdArmed;
|
|
ManualControlCommandSet(&cmd);
|
|
}
|
|
//
|
|
// End of arming/disarming
|
|
//
|
|
|
|
|
|
|
|
// 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) {
|
|
switch(cmd.StabilizationSettings[MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ROLL]) {
|
|
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE:
|
|
attitude.Roll = cmd.Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL];
|
|
break;
|
|
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE:
|
|
attitude.Roll = cmd.Roll * stabSettings.RollMax;
|
|
break;
|
|
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE:
|
|
attitude.Roll = cmd.Roll;
|
|
break;
|
|
}
|
|
switch(cmd.StabilizationSettings[MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_PITCH]) {
|
|
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE:
|
|
attitude.Pitch = cmd.Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH];
|
|
break;
|
|
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE:
|
|
attitude.Pitch = cmd.Pitch * stabSettings.PitchMax;
|
|
break;
|
|
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE:
|
|
attitude.Pitch = cmd.Pitch;
|
|
break;
|
|
}
|
|
switch(cmd.StabilizationSettings[MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_YAW]) {
|
|
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE:
|
|
attitude.Yaw = cmd.Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
|
|
break;
|
|
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE:
|
|
attitude.Yaw = fmod(cmd.Yaw * 180.0, 360);
|
|
break;
|
|
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE:
|
|
attitude.Yaw = cmd.Yaw;
|
|
break;
|
|
}
|
|
attitude.Throttle = (cmd.Throttle < 0) ? -1 : cmd.Throttle;
|
|
for(int i = 0; i < 3; i++) {
|
|
attitude.StabilizationSettings[i] = cmd.StabilizationSettings[i];
|
|
}
|
|
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, 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;
|
|
// }
|
|
//
|
|
//
|
|
//}
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|