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52147333ed
1. Receiver.c for ground allows disabled channels for all but yaw and throttle 2. Reciever.c applies a deadband on throttle 0 position 3. Arming understands ground have a 0 throttle position 4. Actuator optimisations in general and fixes for mixing 5. Actuator mixer support for reversible motors
184 lines
6.2 KiB
C
184 lines
6.2 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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* @{
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*
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* @file manualcontrol.h
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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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#ifndef MANUALCONTROL_H
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#define MANUALCONTROL_H
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#include <openpilot.h>
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#include <flightstatus.h>
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#include <sanitycheck.h>
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typedef void (*handlerFunc)(bool newinit);
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typedef struct controlHandlerStruct {
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FlightStatusControlChainData controlChain;
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handlerFunc handler;
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} controlHandler;
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/**
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* @brief Handler to interprete Command inputs in regards to arming/disarming (called in all flight modes)
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* @input: ManualControlCommand, AccessoryDesired
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* @output: FlightStatus.Arming
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*/
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void armHandler(bool newinit, FrameType_t frameType);
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/**
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* @brief Handler to control Manual flightmode - input directly steers actuators
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* @input: ManualControlCommand
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* @output: ActuatorDesired
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*/
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void manualHandler(bool newinit);
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/**
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* @brief Handler to control Stabilized flightmodes. FlightControl is governed by "Stabilization"
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* @input: ManualControlCommand
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* @output: StabilizationDesired
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*/
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void stabilizedHandler(bool newinit);
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/**
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* @brief Handler to control Guided flightmodes. FlightControl is governed by PathFollower, control via PathDesired
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* @input: NONE: fully automated mode -- TODO recursively call handler for advanced stick commands
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* @output: PathDesired
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*/
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void pathFollowerHandler(bool newinit);
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/**
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* @brief Handler to control Navigated flightmodes. FlightControl is governed by PathFollower, controlled indirectly via PathPlanner
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* @input: NONE: fully automated mode -- TODO recursively call handler for advanced stick commands to affect navigation
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* @output: NONE
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*/
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void pathPlannerHandler(bool newinit);
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/**
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* @brief Handler to setup takeofflocation on arming. it is set up during Arming
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* @input: NONE:
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* @output: NONE
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*/
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void takeOffLocationHandler();
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/**
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* @brief Initialize TakeoffLocationHanlder
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*/
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void takeOffLocationHandlerInit();
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#define STABILIZATIONMODE_TABLE(ENTRY) \
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ENTRY(MANUAL) \
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ENTRY(RATE) \
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ENTRY(ATTITUDE) \
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ENTRY(AXISLOCK) \
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ENTRY(WEAKLEVELING) \
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ENTRY(VIRTUALBAR) \
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ENTRY(ACRO) \
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ENTRY(RATTITUDE) \
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ENTRY(ALTITUDEHOLD) \
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ENTRY(ALTITUDEVARIO) \
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ENTRY(CRUISECONTROL)
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#define EXPAND_FLIGHTSETTINGS_STAB1(x) ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_##x == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_##x) &&
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#define EXPAND_FLIGHTSETTINGS_STAB2(x) ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_##x == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_##x) &&
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#define EXPAND_FLIGHTSETTINGS_STAB3(x) ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_##x == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_##x) &&
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#define EXPAND_FLIGHTSETTINGS_STAB4(x) ((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_##x == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_##x) &&
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#define EXPAND_FLIGHTSETTINGS_STAB5(x) ((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_##x == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_##x) &&
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#define EXPAND_FLIGHTSETTINGS_STAB6(x) ((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_##x == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_##x) &&
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#define FLIGHTMODE_TABLE(ENTRY) \
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ENTRY(MANUAL) \
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ENTRY(STABILIZED1) \
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ENTRY(STABILIZED2) \
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ENTRY(STABILIZED3) \
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ENTRY(STABILIZED4) \
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ENTRY(STABILIZED5) \
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ENTRY(STABILIZED6) \
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ENTRY(POSITIONHOLD) \
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ENTRY(RETURNTOBASE) \
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ENTRY(LAND) \
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ENTRY(PATHPLANNER) \
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ENTRY(POI)
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#define EXPAND_FLIGHTMODE(x) ((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_##x == (int)FLIGHTSTATUS_FLIGHTMODE_##x) &&
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/*
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* These are assumptions we make in the flight code about the order of settings and their consistency between
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* objects. Please keep this synchronized to the UAVObjects
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*/
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#define assumptions1 \
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( \
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STABILIZATIONMODE_TABLE(EXPAND_FLIGHTSETTINGS_STAB1) \
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1 \
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)
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#define assumptions2 \
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( \
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STABILIZATIONMODE_TABLE(EXPAND_FLIGHTSETTINGS_STAB2) \
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1 \
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)
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#define assumptions3 \
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( \
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STABILIZATIONMODE_TABLE(EXPAND_FLIGHTSETTINGS_STAB3) \
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1 \
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)
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#define assumptions4 \
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( \
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STABILIZATIONMODE_TABLE(EXPAND_FLIGHTSETTINGS_STAB4) \
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1 \
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)
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#define assumptions5 \
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( \
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STABILIZATIONMODE_TABLE(EXPAND_FLIGHTSETTINGS_STAB5) \
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1 \
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)
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#define assumptions6 \
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( \
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STABILIZATIONMODE_TABLE(EXPAND_FLIGHTSETTINGS_STAB6) \
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1 \
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)
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#define assumptions7 \
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( \
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((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM == (int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_NUMELEM) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM == (int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_NUMELEM) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM == (int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_NUMELEM) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM == (int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_NUMELEM) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM == (int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_NUMELEM) && \
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1 \
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)
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#define assumptions_flightmode \
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( \
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FLIGHTMODE_TABLE(EXPAND_FLIGHTMODE) \
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1 \
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)
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#endif // MANUALCONTROL_H
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