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https://github.com/ArduPilot/ardupilot.git
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af5efc497c
Copter and Sub were already using it. This changes the default timeout for Rover from 500ms to 1000ms like other vehicle types using this parameter
93 lines
2.9 KiB
C++
93 lines
2.9 KiB
C++
#include "Rover.h"
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/*
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allow for runtime change of control channel ordering
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*/
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void Rover::set_control_channels(void)
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{
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// check change on RCMAP
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// the library guarantees that these are non-nullptr:
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channel_steer = &rc().get_roll_channel();
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channel_throttle = &rc().get_throttle_channel();
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channel_lateral = &rc().get_yaw_channel();
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// set rc channel ranges
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channel_steer->set_angle(SERVO_MAX);
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channel_throttle->set_angle(100);
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if (channel_lateral != nullptr) {
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channel_lateral->set_angle(100);
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}
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// walking robots rc input init
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channel_roll = rc().find_channel_for_option(RC_Channel::AUX_FUNC::ROLL);
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channel_pitch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::PITCH);
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channel_walking_height = rc().find_channel_for_option(RC_Channel::AUX_FUNC::WALKING_HEIGHT);
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if (channel_roll != nullptr) {
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channel_roll->set_angle(SERVO_MAX);
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channel_roll->set_default_dead_zone(30);
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}
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if (channel_pitch != nullptr) {
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channel_pitch->set_angle(SERVO_MAX);
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channel_pitch->set_default_dead_zone(30);
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}
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if (channel_walking_height != nullptr) {
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channel_walking_height->set_angle(SERVO_MAX);
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channel_walking_height->set_default_dead_zone(30);
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}
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// sailboat rc input init
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g2.sailboat.init_rc_in();
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// Allow to reconfigure output when not armed
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if (!arming.is_armed()) {
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g2.motors.setup_servo_output();
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// For a rover safety is TRIM throttle
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g2.motors.setup_safety_output();
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}
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// setup correct scaling for ESCs like the UAVCAN ESCs which
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// take a proportion of speed. Default to 1000 to 2000 for systems without
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// a k_throttle output
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hal.rcout->set_esc_scaling(1000, 2000);
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g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
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}
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void Rover::init_rc_in()
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{
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// set rc dead zones
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channel_steer->set_default_dead_zone(30);
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channel_throttle->set_default_dead_zone(30);
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if (channel_lateral != nullptr) {
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channel_lateral->set_default_dead_zone(30);
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}
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}
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void Rover::read_radio()
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{
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if (!rc().read_input()) {
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// check if we lost RC link
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radio_failsafe_check(channel_throttle->get_radio_in());
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return;
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}
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failsafe.last_valid_rc_ms = AP_HAL::millis();
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// check that RC value are valid
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radio_failsafe_check(channel_throttle->get_radio_in());
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}
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void Rover::radio_failsafe_check(uint16_t pwm)
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{
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if (!g.fs_throttle_enabled) {
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// radio failsafe disabled
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AP_Notify::flags.failsafe_radio = false;
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return;
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}
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bool failed = pwm < static_cast<uint16_t>(g.fs_throttle_value);
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if (AP_HAL::millis() - failsafe.last_valid_rc_ms > rc().get_fs_timeout_ms()) {
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// we haven't had a valid RC frame for RC_FS_TIMEOUT seconds
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failed = true;
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}
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AP_Notify::flags.failsafe_radio = failed;
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failsafe_trigger(FAILSAFE_EVENT_THROTTLE, "Radio", failed);
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}
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