// convert input in 0 to +1 range to pwm output
int16_t AP_Motors::calc_pwm_output_0to1(float input, const RC_Channel& servo)
{
int16_t ret;
input = constrain_float(input, 0.0f, 1.0f);
if (servo.get_reverse()) {
input = 1.0f-input;
}
ret = input * (servo.get_radio_max() - servo.get_radio_min()) + servo.get_radio_min();
return constrain_int16(ret, servo.get_radio_min(), servo.get_radio_max());
}
void Sub::init_rc_in()
{
channel_pitch = RC_Channels::rc_channel(0);
channel_roll = RC_Channels::rc_channel(1);
channel_throttle = RC_Channels::rc_channel(2);
channel_yaw = RC_Channels::rc_channel(3);
channel_forward = RC_Channels::rc_channel(4);
channel_lateral = RC_Channels::rc_channel(5);
// set rc channel ranges
channel_roll->set_angle(ROLL_PITCH_INPUT_MAX);
channel_pitch->set_angle(ROLL_PITCH_INPUT_MAX);
channel_yaw->set_angle(ROLL_PITCH_INPUT_MAX);
channel_throttle->set_range(1000);
channel_forward->set_angle(ROLL_PITCH_INPUT_MAX);
channel_lateral->set_angle(ROLL_PITCH_INPUT_MAX);
// set default dead zones
channel_roll->set_default_dead_zone(30);
channel_pitch->set_default_dead_zone(30);
channel_throttle->set_default_dead_zone(30);
channel_yaw->set_default_dead_zone(40);
channel_forward->set_default_dead_zone(30);
channel_lateral->set_default_dead_zone(30);
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
// initialize rc input to 1500 on control channels (rather than 0)
for (int i = 0; i < 6; i++) {
hal.rcin->set_override(i, 1500);
}
hal.rcin->set_override(6, 1500); // camera pan channel
hal.rcin->set_override(7, 1500); // camera tilt channel
RC_Channel* chan = RC_Channels::rc_channel(8);
uint16_t min = chan->get_radio_min();
hal.rcin->set_override(8, min); // lights 1 channel
chan = RC_Channels::rc_channel(9);
min = chan->get_radio_min();
hal.rcin->set_override(9, min); // lights 2 channel
hal.rcin->set_override(10, 1100); // video switch
#endif
}
// convert input in -1 to +1 range to pwm output
int16_t AP_Motors::calc_pwm_output_1to1(float input, const RC_Channel& servo)
{
int16_t ret;
input = constrain_float(input, -1.0f, 1.0f);
if (servo.get_reverse()) {
input = -input;
}
if (input >= 0.0f) {
ret = ((input * (servo.get_radio_max() - servo.get_radio_trim())) + servo.get_radio_trim());
} else {
ret = ((input * (servo.get_radio_trim() - servo.get_radio_min())) + servo.get_radio_trim());
}
return constrain_int16(ret, servo.get_radio_min(), servo.get_radio_max());
}
void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
{
// Act based on the function assigned to this button
switch (get_button(button)->function(shift)) {
case JSButton::button_function_t::k_arm_toggle:
if (motors.armed()) {
init_disarm_motors();
} else {
init_arm_motors(true);
}
break;
case JSButton::button_function_t::k_arm:
init_arm_motors(true);
break;
case JSButton::button_function_t::k_disarm:
init_disarm_motors();
break;
case JSButton::button_function_t::k_mode_manual:
set_mode(MANUAL, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_stabilize:
set_mode(STABILIZE, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_depth_hold:
set_mode(ALT_HOLD, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_auto:
set_mode(AUTO, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_guided:
set_mode(GUIDED, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_circle:
set_mode(CIRCLE, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_acro:
set_mode(ACRO, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mode_poshold:
set_mode(POSHOLD, MODE_REASON_TX_COMMAND);
break;
case JSButton::button_function_t::k_mount_center:
camera_mount.set_angle_targets(0, 0, 0);
// for some reason the call to set_angle_targets changes the mode to mavlink targeting!
camera_mount.set_mode(MAV_MOUNT_MODE_RC_TARGETING);
break;
case JSButton::button_function_t::k_mount_tilt_up:
cam_tilt = 1900;
break;
case JSButton::button_function_t::k_mount_tilt_down:
cam_tilt = 1100;
break;
case JSButton::button_function_t::k_camera_trigger:
break;
case JSButton::button_function_t::k_camera_source_toggle:
if (!held) {
static bool video_toggle = false;
video_toggle = !video_toggle;
if (video_toggle) {
video_switch = 1900;
gcs().send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 2");
} else {
video_switch = 1100;
gcs().send_text(MAV_SEVERITY_INFO,"Video Toggle: Source 1");
}
}
break;
case JSButton::button_function_t::k_mount_pan_right:
// Not implemented
break;
case JSButton::button_function_t::k_mount_pan_left:
// Not implemented
break;
case JSButton::button_function_t::k_lights1_cycle:
if (!held) {
static bool increasing = true;
RC_Channel* chan = RC_Channels::rc_channel(8);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
if (increasing) {
lights1 = constrain_float(lights1 + step, min, max);
} else {
lights1 = constrain_float(lights1 - step, min, max);
}
if (lights1 >= max || lights1 <= min) {
increasing = !increasing;
}
}
break;
case JSButton::button_function_t::k_lights1_brighter:
if (!held) {
RC_Channel* chan = RC_Channels::rc_channel(8);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
lights1 = constrain_float(lights1 + step, min, max);
}
break;
case JSButton::button_function_t::k_lights1_dimmer:
if (!held) {
RC_Channel* chan = RC_Channels::rc_channel(8);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
lights1 = constrain_float(lights1 - step, min, max);
}
break;
case JSButton::button_function_t::k_lights2_cycle:
if (!held) {
static bool increasing = true;
RC_Channel* chan = RC_Channels::rc_channel(9);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
if (increasing) {
lights2 = constrain_float(lights2 + step, min, max);
} else {
lights2 = constrain_float(lights2 - step, min, max);
}
if (lights2 >= max || lights2 <= min) {
increasing = !increasing;
}
}
break;
case JSButton::button_function_t::k_lights2_brighter:
if (!held) {
RC_Channel* chan = RC_Channels::rc_channel(9);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
lights2 = constrain_float(lights2 + step, min, max);
}
break;
case JSButton::button_function_t::k_lights2_dimmer:
if (!held) {
RC_Channel* chan = RC_Channels::rc_channel(9);
uint16_t min = chan->get_radio_min();
uint16_t max = chan->get_radio_max();
uint16_t step = (max - min) / g.lights_steps;
lights2 = constrain_float(lights2 - step, min, max);
}
break;
case JSButton::button_function_t::k_gain_toggle:
if (!held) {
static bool lowGain = false;
lowGain = !lowGain;
if (lowGain) {
gain = 0.5f;
} else {
gain = 1.0f;
}
gcs().send_text(MAV_SEVERITY_INFO,"#Gain: %2.0f%%",(double)gain*100);
}
break;
case JSButton::button_function_t::k_gain_inc:
if (!held) {
// check that our gain parameters are in correct range, update in eeprom and notify gcs if needed
g.minGain.set_and_save(constrain_float(g.minGain, 0.10, 0.80));
g.maxGain.set_and_save(constrain_float(g.maxGain, g.minGain, 1.0));
g.numGainSettings.set_and_save(constrain_int16(g.numGainSettings, 1, 10));
if (g.numGainSettings == 1) {
gain = constrain_float(g.gain_default, g.minGain, g.maxGain);
} else {
gain = constrain_float(gain + (g.maxGain-g.minGain)/(g.numGainSettings-1), g.minGain, g.maxGain);
}
gcs().send_text(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",(double)gain*100);
}
break;
case JSButton::button_function_t::k_gain_dec:
if (!held) {
// check that our gain parameters are in correct range, update in eeprom and notify gcs if needed
g.minGain.set_and_save(constrain_float(g.minGain, 0.10, 0.80));
g.maxGain.set_and_save(constrain_float(g.maxGain, g.minGain, 1.0));
g.numGainSettings.set_and_save(constrain_int16(g.numGainSettings, 1, 10));
if (g.numGainSettings == 1) {
gain = constrain_float(g.gain_default, g.minGain, g.maxGain);
} else {
gain = constrain_float(gain - (g.maxGain-g.minGain)/(g.numGainSettings-1), g.minGain, g.maxGain);
}
gcs().send_text(MAV_SEVERITY_INFO,"#Gain is %2.0f%%",(double)gain*100);
}
break;
case JSButton::button_function_t::k_trim_roll_inc:
rollTrim = constrain_float(rollTrim+10,-200,200);
break;
case JSButton::button_function_t::k_trim_roll_dec:
rollTrim = constrain_float(rollTrim-10,-200,200);
break;
case JSButton::button_function_t::k_trim_pitch_inc:
pitchTrim = constrain_float(pitchTrim+10,-200,200);
break;
case JSButton::button_function_t::k_trim_pitch_dec:
pitchTrim = constrain_float(pitchTrim-10,-200,200);
break;
case JSButton::button_function_t::k_input_hold_set:
if(!motors.armed()) {
break;
}
if (!held) {
zTrim = abs(z_last-500) > 50 ? z_last-500 : 0;
xTrim = abs(x_last) > 50 ? x_last : 0;
yTrim = abs(y_last) > 50 ? y_last : 0;
bool input_hold_engaged_last = input_hold_engaged;
input_hold_engaged = zTrim || xTrim || yTrim;
if (input_hold_engaged) {
gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Set");
} else if (input_hold_engaged_last) {
gcs().send_text(MAV_SEVERITY_INFO,"#Input Hold Disabled");
}
}
break;
case JSButton::button_function_t::k_relay_1_on:
relay.on(0);
break;
case JSButton::button_function_t::k_relay_1_off:
relay.off(0);
break;
case JSButton::button_function_t::k_relay_1_toggle:
if (!held) {
relay.toggle(0);
}
break;
case JSButton::button_function_t::k_relay_2_on:
relay.on(1);
break;
case JSButton::button_function_t::k_relay_2_off:
relay.off(1);
break;
case JSButton::button_function_t::k_relay_2_toggle:
if (!held) {
relay.toggle(1);
}
break;
case JSButton::button_function_t::k_relay_3_on:
relay.on(2);
break;
case JSButton::button_function_t::k_relay_3_off:
relay.off(2);
break;
case JSButton::button_function_t::k_relay_3_toggle:
if (!held) {
relay.toggle(2);
}
break;
case JSButton::button_function_t::k_relay_4_on:
relay.on(3);
break;
case JSButton::button_function_t::k_relay_4_off:
relay.off(3);
break;
case JSButton::button_function_t::k_relay_4_toggle:
if (!held) {
relay.toggle(3);
}
break;
////////////////////////////////////////////////
// Servo functions
// TODO: initialize
case JSButton::button_function_t::k_servo_1_inc:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_1 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out + 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_1_dec:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_1 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out - 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_1_min:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_min()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_1_max:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_max()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_1_center:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_trim()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_2_inc:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_2 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out + 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_2_dec:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_2 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out - 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_2_min:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_min()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_2_max:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_max()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_2_center:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_trim()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_3_inc:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_3 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out + 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_3_dec:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_3 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out - 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_3_min:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_min()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_3_max:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_max()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_3_center:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed
}
break;
case JSButton::button_function_t::k_roll_pitch_toggle:
if (!held) {
roll_pitch_flag = !roll_pitch_flag;
}
break;
case JSButton::button_function_t::k_custom_1:
// Not implemented
break;
case JSButton::button_function_t::k_custom_2:
// Not implemented
break;
case JSButton::button_function_t::k_custom_3:
// Not implemented
break;
case JSButton::button_function_t::k_custom_4:
// Not implemented
break;
case JSButton::button_function_t::k_custom_5:
// Not implemented
break;
case JSButton::button_function_t::k_custom_6:
// Not implemented
break;
}
}
