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https://bitbucket.org/librepilot/librepilot.git
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5f2c502172
breaks CC. This should be done by the GPS alarm being set only when appropriate (i.e. by AHRS on OP when needed) and not by the GPS module. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2824 ebee16cc-31ac-478f-84a7-5cbb03baadba
584 lines
21 KiB
C
584 lines
21 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 "attitudedesired.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 manualControlTask(void *parameters);
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static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
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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_POS1STABILIZATIONSETTINGS_NONE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \
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((int)MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \
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((int)MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_ATTITUDE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \
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)
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#define assumptions2 ( \
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((int)MANUALCONTROLSETTINGS_POS1FLIGHTMODE_MANUAL == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
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((int)MANUALCONTROLSETTINGS_POS1FLIGHTMODE_STABILIZED == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \
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((int)MANUALCONTROLSETTINGS_POS1FLIGHTMODE_AUTO == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \
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)
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#define assumptions3 ( \
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((int)MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \
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((int)MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \
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((int)MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_ATTITUDE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \
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)
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#define assumptions4 ( \
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((int)MANUALCONTROLSETTINGS_POS2FLIGHTMODE_MANUAL == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
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((int)MANUALCONTROLSETTINGS_POS2FLIGHTMODE_STABILIZED == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \
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((int)MANUALCONTROLSETTINGS_POS2FLIGHTMODE_AUTO == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \
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)
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#define assumptions5 ( \
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((int)MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE) && \
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((int)MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE) && \
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((int)MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_ATTITUDE == (int)MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ATTITUDE) \
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)
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#define assumptions6 ( \
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((int)MANUALCONTROLSETTINGS_POS3FLIGHTMODE_MANUAL == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
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((int)MANUALCONTROLSETTINGS_POS3FLIGHTMODE_STABILIZED == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) && \
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((int)MANUALCONTROLSETTINGS_POS3FLIGHTMODE_AUTO == (int)MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) \
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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 (assumptions1 && assumptions2 && assumptions3 && assumptions4 && assumptions5 && assumptions6 && assumptions7 && assumptions8)
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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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// The following line compiles to nothing when the assumptions are correct
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if (!assumptions)
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return 1;
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// In case the assumptions are incorrect, this module will not initialise and so will not function
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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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StabilizationSettingsData stabSettings;
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ManualControlCommandData cmd;
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ActuatorDesiredData actuator;
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AttitudeDesiredData attitude;
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portTickType lastSysTime;
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float flightMode;
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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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StabilizationSettingsGet(&stabSettings);
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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.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
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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]);
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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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if (flightMode < -FLIGHT_MODE_LIMIT) {
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// Position 1
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for(int i = 0; i < 3; i++) {
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cmd.StabilizationSettings[i] = settings.Pos1StabilizationSettings[i]; // See assumptions1
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}
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cmd.FlightMode = settings.Pos1FlightMode; // See assumptions2
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} else if (flightMode > FLIGHT_MODE_LIMIT) {
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// Position 3
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for(int i = 0; i < 3; i++) {
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cmd.StabilizationSettings[i] = settings.Pos3StabilizationSettings[i]; // See assumptions5
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}
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cmd.FlightMode = settings.Pos3FlightMode; // See assumptions6
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} else {
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// Position 2
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for(int i = 0; i < 3; i++) {
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cmd.StabilizationSettings[i] = settings.Pos2StabilizationSettings[i]; // See assumptions3
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}
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cmd.FlightMode = settings.Pos2FlightMode; // See assumptions4
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}
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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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}
|
|
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)
|
|
{
|
|
float valueScaled;
|
|
// Scale
|
|
if ((max > min && value >= neutral) || (min > max && value <= neutral)) {
|
|
if (max != neutral) {
|
|
valueScaled = (float)(value - neutral) / (float)(max - neutral);
|
|
} else {
|
|
valueScaled = 0;
|
|
}
|
|
} else {
|
|
if (min != neutral) {
|
|
valueScaled = (float)(value - neutral) / (float)(neutral - min);
|
|
} else {
|
|
valueScaled = 0;
|
|
}
|
|
}
|
|
// Bound
|
|
if (valueScaled > 1.0) {
|
|
valueScaled = 1.0;
|
|
} else if (valueScaled < -1.0) {
|
|
valueScaled = -1.0;
|
|
}
|
|
return valueScaled;
|
|
}
|
|
|
|
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;
|
|
// }
|
|
//
|
|
//
|
|
//}
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|