/*
send PID tuning message
*/
void Rover::send_pid_tuning(mavlink_channel_t chan)
{
const DataFlash_Class::PID_Info *pid_info;
// steering PID
if (g.gcs_pid_mask & 1) {
pid_info = &g2.attitude_control.get_steering_rate_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
degrees(pid_info->desired),
degrees(ahrs.get_yaw_rate_earth()),
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// speed to throttle PID
if (g.gcs_pid_mask & 2) {
pid_info = &g2.attitude_control.get_throttle_speed_pid().get_pid_info();
float speed = 0.0f;
g2.attitude_control.get_forward_speed(speed);
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info->desired,
speed,
0,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
/*
send PID tuning message
*/
void Rover::send_pid_tuning(mavlink_channel_t chan)
{
const Vector3f &gyro = ahrs.get_gyro();
const DataFlash_Class::PID_Info *pid_info;
if (g.gcs_pid_mask & 1) {
pid_info = &steerController.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
pid_info->desired,
degrees(gyro.z),
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 2) {
pid_info = &g.pidSpeedThrottle.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info->desired,
0,
0,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
/*
send PID tuning message
*/
void Sub::send_pid_tuning(mavlink_channel_t chan)
{
const Vector3f &gyro = ahrs.get_gyro();
if (g.gcs_pid_mask & 1) {
const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_roll_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
pid_info.desired*0.01f,
degrees(gyro.x),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 2) {
const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_pitch_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
pid_info.desired*0.01f,
degrees(gyro.y),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 4) {
const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_yaw_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
pid_info.desired*0.01f,
degrees(gyro.z),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 8) {
const AP_Logger::PID_Info &pid_info = pos_control.get_accel_z_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info.desired*0.01f,
-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
// locks onto a particular target sysid and sets it's position data stream to at least 1hz
void Tracker::mavlink_check_target(const mavlink_message_t* msg)
{
// exit immediately if the target has already been set
if (target_set) {
return;
}
// decode
mavlink_heartbeat_t packet;
mavlink_msg_heartbeat_decode(msg, &packet);
// exit immediately if this is not a vehicle we would track
if ((packet.type == MAV_TYPE_ANTENNA_TRACKER) ||
(packet.type == MAV_TYPE_GCS) ||
(packet.type == MAV_TYPE_ONBOARD_CONTROLLER) ||
(packet.type == MAV_TYPE_GIMBAL)) {
return;
}
// set our sysid to the target, this ensures we lock onto a single vehicle
if (g.sysid_target == 0) {
g.sysid_target = msg->sysid;
}
// send data stream request to target on all channels
// Note: this doesn't check success for all sends meaning it's not guaranteed the vehicle's positions will be sent at 1hz
for (uint8_t i=0; i < num_gcs; i++) {
if (gcs_chan[i].initialised) {
// request position
if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
mavlink_msg_request_data_stream_send(
(mavlink_channel_t)i,
msg->sysid,
msg->compid,
MAV_DATA_STREAM_POSITION,
g.mavlink_update_rate,
1); // start streaming
}
// request air pressure
if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
mavlink_msg_request_data_stream_send(
(mavlink_channel_t)i,
msg->sysid,
msg->compid,
MAV_DATA_STREAM_RAW_SENSORS,
g.mavlink_update_rate,
1); // start streaming
}
}
}
// flag target has been set
target_set = true;
}
/**
trigger sending of log messages if there are some pending
*/
void DataFlash_Class::handle_log_send_listing(GCS_MAVLINK &link)
{
if (!HAVE_PAYLOAD_SPACE(link.get_chan(), LOG_ENTRY)) {
// no space
return;
}
if (AP_HAL::millis() - link.get_last_heartbeat_time() > 3000) {
// give a heartbeat a chance
return;
}
uint32_t size, time_utc;
if (_log_next_list_entry == 0) {
size = 0;
time_utc = 0;
} else {
get_log_info(_log_next_list_entry, size, time_utc);
}
mavlink_msg_log_entry_send(link.get_chan(), _log_next_list_entry, _log_num_logs, _log_last_list_entry, time_utc, size);
if (_log_next_list_entry == _log_last_list_entry) {
_log_listing = false;
_log_sending_chan = -1;
} else {
_log_next_list_entry++;
}
}
/**
trigger sending of log messages if there are some pending
*/
void GCS_MAVLINK::handle_log_send_listing(DataFlash_Class &dataflash)
{
if (!HAVE_PAYLOAD_SPACE(chan, LOG_ENTRY)) {
// no space
return;
}
if (AP_HAL::millis() - last_heartbeat_time > 3000) {
// give a heartbeat a chance
return;
}
uint32_t size, time_utc;
if (_log_next_list_entry == 0) {
size = 0;
time_utc = 0;
} else {
dataflash.get_log_info(_log_next_list_entry, size, time_utc);
}
mavlink_msg_log_entry_send(chan, _log_next_list_entry, _log_num_logs, _log_last_list_entry, time_utc, size);
if (_log_next_list_entry == _log_last_list_entry) {
_log_listing = false;
} else {
_log_next_list_entry++;
}
}
/**
trigger sending of log messages if there are some pending
*/
void DataFlash_Class::handle_log_send_listing()
{
if (!HAVE_PAYLOAD_SPACE(_log_sending_link->get_chan(), LOG_ENTRY)) {
// no space
return;
}
if (AP_HAL::millis() - _log_sending_link->get_last_heartbeat_time() > 3000) {
// give a heartbeat a chance
return;
}
uint32_t size, time_utc;
if (_log_next_list_entry == 0) {
size = 0;
time_utc = 0;
} else {
get_log_info(_log_next_list_entry, size, time_utc);
}
mavlink_msg_log_entry_send(_log_sending_link->get_chan(),
_log_next_list_entry,
_log_num_logs,
_log_last_list_entry,
time_utc,
size);
if (_log_next_list_entry == _log_last_list_entry) {
transfer_activity = IDLE;
_log_sending_link = nullptr;
} else {
_log_next_list_entry++;
}
}
//TODO: handle full txspace properly
bool DataFlash_MAVLink::send_log_block(struct dm_block &block)
{
mavlink_channel_t chan = mavlink_channel_t(_chan - MAVLINK_COMM_0);
if (!_initialised) {
return false;
}
if (!HAVE_PAYLOAD_SPACE(chan, REMOTE_LOG_DATA_BLOCK)) {
return false;
}
if (comm_get_txspace(chan) < 500) {
return false;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (rand() < 0.1) {
return false;
}
#endif
#if DF_MAVLINK_DISABLE_INTERRUPTS
irqstate_t istate = irqsave();
#endif
// DM_packing: 267039 events, 0 overruns, 8440834us elapsed, 31us avg, min 31us max 32us 0.488us rms
hal.util->perf_begin(_perf_packing);
mavlink_message_t msg;
mavlink_status_t *chan_status = mavlink_get_channel_status(chan);
uint8_t saved_seq = chan_status->current_tx_seq;
chan_status->current_tx_seq = mavlink_seq++;
// Debug("Sending block (%d)", block.seqno);
mavlink_msg_remote_log_data_block_pack(mavlink_system.sysid,
MAV_COMP_ID_LOG,
&msg,
_target_system_id,
_target_component_id,
block.seqno,
block.buf);
hal.util->perf_end(_perf_packing);
#if DF_MAVLINK_DISABLE_INTERRUPTS
irqrestore(istate);
#endif
block.last_sent = AP_HAL::millis();
chan_status->current_tx_seq = saved_seq;
// _last_send_time is set even if we fail to send the packet; if
// the txspace is repeatedly chockas we should not add to the
// problem and stop attempting to log
_last_send_time = AP_HAL::millis();
_mavlink_resend_uart(chan, &msg);
return true;
}
void GCS_Plane::send_airspeed_calibration(const Vector3f &vg)
{
for (uint8_t i=0; i<_num_gcs; i++) {
if (_chan[i].initialised) {
if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, AIRSPEED_AUTOCAL)) {
plane.airspeed.log_mavlink_send((mavlink_channel_t)i, vg);
}
}
}
}
/*
send PID tuning message
*/
void GCS_MAVLINK_Copter::send_pid_tuning()
{
const Vector3f &gyro = AP::ahrs().get_gyro();
static const PID_TUNING_AXIS axes[] = {
PID_TUNING_ROLL,
PID_TUNING_PITCH,
PID_TUNING_YAW,
PID_TUNING_ACCZ
};
for (uint8_t i=0; i<ARRAY_SIZE(axes); i++) {
if (!(copter.g.gcs_pid_mask & (1<<(axes[i]-1)))) {
continue;
}
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
const AP_Logger::PID_Info *pid_info = nullptr;
float achieved;
switch (axes[i]) {
case PID_TUNING_ROLL:
pid_info = &copter.attitude_control->get_rate_roll_pid().get_pid_info();
achieved = degrees(gyro.x);
break;
case PID_TUNING_PITCH:
pid_info = &copter.attitude_control->get_rate_pitch_pid().get_pid_info();
achieved = degrees(gyro.y);
break;
case PID_TUNING_YAW:
pid_info = &copter.attitude_control->get_rate_yaw_pid().get_pid_info();
achieved = degrees(gyro.z);
break;
case PID_TUNING_ACCZ:
pid_info = &copter.pos_control->get_accel_z_pid().get_pid_info();
achieved = -(AP::ahrs().get_accel_ef_blended().z + GRAVITY_MSS);
break;
default:
continue;
}
if (pid_info != nullptr) {
mavlink_msg_pid_tuning_send(chan,
axes[i],
pid_info->desired*0.01f,
achieved,
pid_info->FF*0.01f,
pid_info->P*0.01f,
pid_info->I*0.01f,
pid_info->D*0.01f);
}
}
}
/*
send PID tuning message
*/
void GCS_MAVLINK_Tracker::send_pid_tuning()
{
const Parameters &g = tracker.g;
// Pitch PID
if (g.gcs_pid_mask & 1) {
const AP_Logger::PID_Info *pid_info;
pid_info = &g.pidPitch2Srv.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
pid_info->desired,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// Yaw PID
if (g.gcs_pid_mask & 2) {
const AP_Logger::PID_Info *pid_info;
pid_info = &g.pidYaw2Srv.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
pid_info->desired,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint8_t compid)
{
for (uint8_t i=0; i < num_gcs(); i++) {
if (gcs().chan(i).initialised) {
// request air pressure
if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, DATA_STREAM)) {
mavlink_msg_request_data_stream_send(
(mavlink_channel_t)i,
sysid,
compid,
MAV_DATA_STREAM_RAW_SENSORS,
tracker.g.mavlink_update_rate,
1); // start streaming
}
}
}
}
// sends a single pid info over the provided channel
void GCS_MAVLINK_Plane::send_pid_info(const AP_Logger::PID_Info *pid_info,
const uint8_t axis, const float achieved)
{
if (pid_info == nullptr) {
return;
}
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
mavlink_msg_pid_tuning_send(chan, axis,
pid_info->desired,
achieved,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
}
/*
send PID tuning message
*/
void Rover::send_pid_tuning(mavlink_channel_t chan)
{
const Vector3f &gyro = ahrs.get_gyro();
if (g.gcs_pid_mask & 1) {
const DataFlash_Class::PID_Info &pid_info = steerController.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
pid_info.desired,
degrees(gyro.z),
pid_info.FF,
pid_info.P,
pid_info.I,
pid_info.D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
/**
trigger sending of log data if there are some pending
*/
bool DataFlash_Class::handle_log_send_data()
{
if (!HAVE_PAYLOAD_SPACE(_log_sending_link->get_chan(), LOG_DATA)) {
// no space
return false;
}
if (AP_HAL::millis() - _log_sending_link->get_last_heartbeat_time() > 3000) {
// give a heartbeat a chance
return false;
}
int16_t ret = 0;
uint32_t len = _log_data_remaining;
mavlink_log_data_t packet;
if (len > MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN) {
len = MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN;
}
ret = get_log_data(_log_num_data, _log_data_page, _log_data_offset, len, packet.data);
if (ret < 0) {
// report as EOF on error
ret = 0;
}
if (ret < MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN) {
memset(&packet.data[ret], 0, MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN-ret);
}
packet.ofs = _log_data_offset;
packet.id = _log_num_data;
packet.count = ret;
_mav_finalize_message_chan_send(_log_sending_link->get_chan(),
MAVLINK_MSG_ID_LOG_DATA,
(const char *)&packet,
MAVLINK_MSG_ID_LOG_DATA_MIN_LEN,
MAVLINK_MSG_ID_LOG_DATA_LEN,
MAVLINK_MSG_ID_LOG_DATA_CRC);
_log_data_offset += len;
_log_data_remaining -= len;
if (ret < MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN || _log_data_remaining == 0) {
transfer_activity = IDLE;
_log_sending_link = nullptr;
}
return true;
}
/**
trigger sending of log data if there are some pending
*/
bool DataFlash_Class::handle_log_send_data(GCS_MAVLINK &link)
{
if (!HAVE_PAYLOAD_SPACE(link.get_chan(), LOG_DATA)) {
// no space
return false;
}
if (AP_HAL::millis() - link.get_last_heartbeat_time() > 3000) {
// give a heartbeat a chance
return false;
}
int16_t ret = 0;
uint32_t len = _log_data_remaining;
mavlink_log_data_t packet;
if (len > 90) {
len = 90;
}
ret = get_log_data(_log_num_data, _log_data_page, _log_data_offset, len, packet.data);
if (ret < 0) {
// report as EOF on error
ret = 0;
}
if (ret < 90) {
memset(&packet.data[ret], 0, 90-ret);
}
packet.ofs = _log_data_offset;
packet.id = _log_num_data;
packet.count = ret;
_mav_finalize_message_chan_send(link.get_chan(), MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet,
MAVLINK_MSG_ID_LOG_DATA_MIN_LEN,
MAVLINK_MSG_ID_LOG_DATA_LEN,
MAVLINK_MSG_ID_LOG_DATA_CRC);
_log_data_offset += len;
_log_data_remaining -= len;
if (ret < 90 || _log_data_remaining == 0) {
_log_sending = false;
_log_sending_chan = -1;
}
return true;
}
/*****************************************
* Set the flight control servos based on the current calculated values
*****************************************/
void Plane::set_servos(void)
{
int16_t last_throttle = channel_throttle->get_radio_out();
// do any transition updates for quadplane
quadplane.update();
if (control_mode == AUTO && auto_state.idle_mode) {
// special handling for balloon launch
set_servos_idle();
return;
}
/*
see if we are doing ground steering.
*/
if (!steering_control.ground_steering) {
// we are not at an altitude for ground steering. Set the nose
// wheel to the rudder just in case the barometer has drifted
// a lot
steering_control.steering = steering_control.rudder;
} else if (!RC_Channel_aux::function_assigned(RC_Channel_aux::k_steering)) {
// we are within the ground steering altitude but don't have a
// dedicated steering channel. Set the rudder to the ground
// steering output
steering_control.rudder = steering_control.steering;
}
channel_rudder->set_servo_out(steering_control.rudder);
// clear ground_steering to ensure manual control if the yaw stabilizer doesn't run
steering_control.ground_steering = false;
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_rudder, steering_control.rudder);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_steering, steering_control.steering);
if (control_mode == MANUAL) {
// do a direct pass through of radio values
if (g.mix_mode == 0 || g.elevon_output != MIXING_DISABLED) {
channel_roll->set_radio_out(channel_roll->get_radio_in());
channel_pitch->set_radio_out(channel_pitch->get_radio_in());
} else {
channel_roll->set_radio_out(channel_roll->read());
channel_pitch->set_radio_out(channel_pitch->read());
}
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
channel_rudder->set_radio_out(channel_rudder->get_radio_in());
// setup extra channels. We want this to come from the
// main input channel, but using the 2nd channels dead
// zone, reverse and min/max settings. We need to use
// pwm_to_angle_dz() to ensure we don't trim the value for the
// deadzone of the main aileron channel, otherwise the 2nd
// aileron won't quite follow the first one
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron, channel_roll->pwm_to_angle_dz(0));
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator, channel_pitch->pwm_to_angle_dz(0));
// this variant assumes you have the corresponding
// input channel setup in your transmitter for manual control
// of the 2nd aileron
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_elevator_with_input);
if (g.mix_mode == 0 && g.elevon_output == MIXING_DISABLED) {
// set any differential spoilers to follow the elevons in
// manual mode.
RC_Channel_aux::set_radio(RC_Channel_aux::k_dspoiler1, channel_roll->get_radio_out());
RC_Channel_aux::set_radio(RC_Channel_aux::k_dspoiler2, channel_pitch->get_radio_out());
}
} else {
if (g.mix_mode == 0) {
// both types of secondary aileron are slaved to the roll servo out
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron, channel_roll->get_servo_out());
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_aileron_with_input, channel_roll->get_servo_out());
// both types of secondary elevator are slaved to the pitch servo out
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator, channel_pitch->get_servo_out());
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_elevator_with_input, channel_pitch->get_servo_out());
}else{
/*Elevon mode*/
float ch1;
float ch2;
ch1 = channel_pitch->get_servo_out() - (BOOL_TO_SIGN(g.reverse_elevons) * channel_roll->get_servo_out());
ch2 = channel_pitch->get_servo_out() + (BOOL_TO_SIGN(g.reverse_elevons) * channel_roll->get_servo_out());
/* Differential Spoilers
If differential spoilers are setup, then we translate
rudder control into splitting of the two ailerons on
the side of the aircraft where we want to induce
additional drag.
*/
if (RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler1) && RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler2)) {
float ch3 = ch1;
float ch4 = ch2;
if ( BOOL_TO_SIGN(g.reverse_elevons) * channel_rudder->get_servo_out() < 0) {
ch1 += abs(channel_rudder->get_servo_out());
ch3 -= abs(channel_rudder->get_servo_out());
} else {
ch2 += abs(channel_rudder->get_servo_out());
ch4 -= abs(channel_rudder->get_servo_out());
}
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_dspoiler1, ch3);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_dspoiler2, ch4);
}
// directly set the radio_out values for elevon mode
channel_roll->set_radio_out(elevon.trim1 + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0f/ SERVO_MAX)));
channel_pitch->set_radio_out(elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0f/ SERVO_MAX)));
}
// push out the PWM values
if (g.mix_mode == 0) {
channel_roll->calc_pwm();
channel_pitch->calc_pwm();
}
channel_rudder->calc_pwm();
#if THROTTLE_OUT == 0
channel_throttle->set_servo_out(0);
#else
// convert 0 to 100% (or -100 to +100) into PWM
int8_t min_throttle = aparm.throttle_min.get();
int8_t max_throttle = aparm.throttle_max.get();
if (min_throttle < 0 && !allow_reverse_thrust()) {
// reverse thrust is available but inhibited.
min_throttle = 0;
}
if (control_mode == AUTO) {
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) {
min_throttle = 0;
}
if (flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF || flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
if(aparm.takeoff_throttle_max != 0) {
max_throttle = aparm.takeoff_throttle_max;
} else {
max_throttle = aparm.throttle_max;
}
}
}
uint32_t now = millis();
if (battery.overpower_detected()) {
// overpower detected, cut back on the throttle if we're maxing it out by calculating a limiter value
// throttle limit will attack by 10% per second
if (channel_throttle->get_servo_out() > 0 && // demanding too much positive thrust
throttle_watt_limit_max < max_throttle - 25 &&
now - throttle_watt_limit_timer_ms >= 1) {
// always allow for 25% throttle available regardless of battery status
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_max++;
} else if (channel_throttle->get_servo_out() < 0 &&
min_throttle < 0 && // reverse thrust is available
throttle_watt_limit_min < -(min_throttle) - 25 &&
now - throttle_watt_limit_timer_ms >= 1) {
// always allow for 25% throttle available regardless of battery status
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_min++;
}
} else if (now - throttle_watt_limit_timer_ms >= 1000) {
// it has been 1 second since last over-current, check if we can resume higher throttle.
// this throttle release is needed to allow raising the max_throttle as the battery voltage drains down
// throttle limit will release by 1% per second
if (channel_throttle->get_servo_out() > throttle_watt_limit_max && // demanding max forward thrust
throttle_watt_limit_max > 0) { // and we're currently limiting it
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_max--;
} else if (channel_throttle->get_servo_out() < throttle_watt_limit_min && // demanding max negative thrust
throttle_watt_limit_min > 0) { // and we're limiting it
throttle_watt_limit_timer_ms = now;
throttle_watt_limit_min--;
}
}
max_throttle = constrain_int16(max_throttle, 0, max_throttle - throttle_watt_limit_max);
if (min_throttle < 0) {
min_throttle = constrain_int16(min_throttle, min_throttle + throttle_watt_limit_min, 0);
}
channel_throttle->set_servo_out(constrain_int16(channel_throttle->get_servo_out(),
min_throttle,
max_throttle));
if (!hal.util->get_soft_armed()) {
channel_throttle->set_servo_out(0);
channel_throttle->calc_pwm();
} else if (suppress_throttle()) {
// throttle is suppressed in auto mode
channel_throttle->set_servo_out(0);
if (g.throttle_suppress_manual) {
// manual pass through of throttle while throttle is suppressed
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else {
channel_throttle->calc_pwm();
}
} else if (g.throttle_passthru_stabilize &&
(control_mode == STABILIZE ||
control_mode == TRAINING ||
control_mode == ACRO ||
control_mode == FLY_BY_WIRE_A ||
control_mode == AUTOTUNE) &&
!failsafe.ch3_counter) {
// manual pass through of throttle while in FBWA or
// STABILIZE mode with THR_PASS_STAB set
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else if (control_mode == GUIDED &&
guided_throttle_passthru) {
// manual pass through of throttle while in GUIDED
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else if (quadplane.in_vtol_mode()) {
// ask quadplane code for forward throttle
channel_throttle->set_servo_out(quadplane.forward_throttle_pct());
channel_throttle->calc_pwm();
} else {
// normal throttle calculation based on servo_out
channel_throttle->calc_pwm();
}
#endif
}
// Auto flap deployment
int8_t auto_flap_percent = 0;
int8_t manual_flap_percent = 0;
static int8_t last_auto_flap;
static int8_t last_manual_flap;
// work out any manual flap input
RC_Channel *flapin = RC_Channel::rc_channel(g.flapin_channel-1);
if (flapin != NULL && !failsafe.ch3_failsafe && failsafe.ch3_counter == 0) {
flapin->input();
manual_flap_percent = flapin->percent_input();
}
if (auto_throttle_mode) {
int16_t flapSpeedSource = 0;
if (ahrs.airspeed_sensor_enabled()) {
flapSpeedSource = target_airspeed_cm * 0.01f;
} else {
flapSpeedSource = aparm.throttle_cruise;
}
if (g.flap_2_speed != 0 && flapSpeedSource <= g.flap_2_speed) {
auto_flap_percent = g.flap_2_percent;
} else if ( g.flap_1_speed != 0 && flapSpeedSource <= g.flap_1_speed) {
auto_flap_percent = g.flap_1_percent;
} //else flaps stay at default zero deflection
/*
special flap levels for takeoff and landing. This works
better than speed based flaps as it leads to less
possibility of oscillation
*/
if (control_mode == AUTO) {
switch (flight_stage) {
case AP_SpdHgtControl::FLIGHT_TAKEOFF:
case AP_SpdHgtControl::FLIGHT_LAND_ABORT:
if (g.takeoff_flap_percent != 0) {
auto_flap_percent = g.takeoff_flap_percent;
}
break;
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE:
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
if (g.land_flap_percent != 0) {
auto_flap_percent = g.land_flap_percent;
}
break;
default:
break;
}
}
}
// manual flap input overrides auto flap input
if (abs(manual_flap_percent) > auto_flap_percent) {
auto_flap_percent = manual_flap_percent;
}
flap_slew_limit(last_auto_flap, auto_flap_percent);
flap_slew_limit(last_manual_flap, manual_flap_percent);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_flap_auto, auto_flap_percent);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_flap, manual_flap_percent);
if (control_mode >= FLY_BY_WIRE_B ||
quadplane.in_assisted_flight() ||
quadplane.in_vtol_mode()) {
/* only do throttle slew limiting in modes where throttle
* control is automatic */
throttle_slew_limit(last_throttle);
}
if (control_mode == TRAINING) {
// copy rudder in training mode
channel_rudder->set_radio_out(channel_rudder->get_radio_in());
}
if (g.flaperon_output != MIXING_DISABLED && g.elevon_output == MIXING_DISABLED && g.mix_mode == 0) {
flaperon_update(auto_flap_percent);
}
if (g.vtail_output != MIXING_DISABLED) {
channel_output_mixer(g.vtail_output, channel_pitch, channel_rudder);
} else if (g.elevon_output != MIXING_DISABLED) {
channel_output_mixer(g.elevon_output, channel_pitch, channel_roll);
}
if (!arming.is_armed()) {
//Some ESCs get noisy (beep error msgs) if PWM == 0.
//This little segment aims to avoid this.
switch (arming.arming_required()) {
case AP_Arming::NO:
//keep existing behavior: do nothing to radio_out
//(don't disarm throttle channel even if AP_Arming class is)
break;
case AP_Arming::YES_ZERO_PWM:
channel_throttle->set_radio_out(0);
break;
case AP_Arming::YES_MIN_PWM:
default:
channel_throttle->set_radio_out(throttle_min());
break;
}
}
#if OBC_FAILSAFE == ENABLED
// this is to allow the failsafe module to deliberately crash
// the plane. Only used in extreme circumstances to meet the
// OBC rules
obc.check_crash_plane();
#endif
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// get the servos to the GCS immediately for HIL
if (HAVE_PAYLOAD_SPACE(MAVLINK_COMM_0, RC_CHANNELS_SCALED)) {
send_servo_out(MAVLINK_COMM_0);
}
if (!g.hil_servos) {
return;
}
}
#endif
if (g.land_then_servos_neutral > 0 &&
control_mode == AUTO &&
g.land_disarm_delay > 0 &&
auto_state.land_complete &&
!arming.is_armed()) {
// after an auto land and auto disarm, set the servos to be neutral just
// in case we're upside down or some crazy angle and straining the servos.
if (g.land_then_servos_neutral == 1) {
channel_roll->set_radio_out(channel_roll->get_radio_trim());
channel_pitch->set_radio_out(channel_pitch->get_radio_trim());
channel_rudder->set_radio_out(channel_rudder->get_radio_trim());
} else if (g.land_then_servos_neutral == 2) {
channel_roll->disable_out();
channel_pitch->disable_out();
channel_rudder->disable_out();
}
}
// send values to the PWM timers for output
// ----------------------------------------
if (g.rudder_only == 0) {
// when we RUDDER_ONLY mode we don't send the channel_roll
// output and instead rely on KFF_RDDRMIX. That allows the yaw
// damper to operate.
channel_roll->output();
}
channel_pitch->output();
channel_throttle->output();
channel_rudder->output();
RC_Channel_aux::output_ch_all();
}
/*
send PID tuning message
*/
void Rover::send_pid_tuning(mavlink_channel_t chan)
{
const AP_Logger::PID_Info *pid_info;
// steering PID
if (g.gcs_pid_mask & 1) {
pid_info = &g2.attitude_control.get_steering_rate_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
degrees(pid_info->desired),
degrees(ahrs.get_yaw_rate_earth()),
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// speed to throttle PID
if (g.gcs_pid_mask & 2) {
pid_info = &g2.attitude_control.get_throttle_speed_pid().get_pid_info();
float speed = 0.0f;
g2.attitude_control.get_forward_speed(speed);
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info->desired,
speed,
0,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// pitch to throttle pid
if (g.gcs_pid_mask & 4) {
pid_info = &g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
degrees(pid_info->desired),
degrees(ahrs.pitch),
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// left wheel rate control pid
if (g.gcs_pid_mask & 8) {
pid_info = &g2.wheel_rate_control.get_pid(0).get_pid_info();
mavlink_msg_pid_tuning_send(chan, 7,
pid_info->desired,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// right wheel rate control pid
if (g.gcs_pid_mask & 16) {
pid_info = &g2.wheel_rate_control.get_pid(1).get_pid_info();
mavlink_msg_pid_tuning_send(chan, 8,
pid_info->desired,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// sailboat heel to mainsail pid
if (g.gcs_pid_mask & 32) {
pid_info = &g2.attitude_control.get_sailboat_heel_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, 9,
pid_info->desired,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
/**
handle a SERIAL_CONTROL message
*/
void GCS_MAVLINK::handle_serial_control(mavlink_message_t *msg, AP_GPS &gps)
{
mavlink_serial_control_t packet;
mavlink_msg_serial_control_decode(msg, &packet);
AP_HAL::UARTDriver *port = nullptr;
AP_HAL::Stream *stream = nullptr;
if (packet.flags & SERIAL_CONTROL_FLAG_REPLY) {
// how did this packet get to us?
return;
}
bool exclusive = (packet.flags & SERIAL_CONTROL_FLAG_EXCLUSIVE) != 0;
switch (packet.device) {
case SERIAL_CONTROL_DEV_TELEM1:
stream = port = hal.uartC;
lock_channel(MAVLINK_COMM_1, exclusive);
break;
case SERIAL_CONTROL_DEV_TELEM2:
stream = port = hal.uartD;
lock_channel(MAVLINK_COMM_2, exclusive);
break;
case SERIAL_CONTROL_DEV_GPS1:
stream = port = hal.uartB;
gps.lock_port(0, exclusive);
break;
case SERIAL_CONTROL_DEV_GPS2:
stream = port = hal.uartE;
gps.lock_port(1, exclusive);
break;
case SERIAL_CONTROL_DEV_SHELL:
stream = hal.util->get_shell_stream();
break;
default:
// not supported yet
return;
}
if (exclusive && port != nullptr) {
// force flow control off for exclusive access. This protocol
// is used to talk to bootloaders which may not have flow
// control support
port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
}
// optionally change the baudrate
if (packet.baudrate != 0 && port != nullptr) {
port->begin(packet.baudrate);
}
// write the data
if (packet.count != 0) {
if ((packet.flags & SERIAL_CONTROL_FLAG_BLOCKING) == 0) {
stream->write(packet.data, packet.count);
} else {
const uint8_t *data = &packet.data[0];
uint8_t count = packet.count;
while (count > 0) {
while (stream->txspace() <= 0) {
hal.scheduler->delay(5);
}
uint16_t n = stream->txspace();
if (n > packet.count) {
n = packet.count;
}
stream->write(data, n);
data += n;
count -= n;
}
}
}
if ((packet.flags & SERIAL_CONTROL_FLAG_RESPOND) == 0) {
// no response expected
return;
}
uint8_t flags = packet.flags;
more_data:
// sleep for the timeout
while (packet.timeout != 0 &&
stream->available() < (int16_t)sizeof(packet.data)) {
hal.scheduler->delay(1);
packet.timeout--;
}
packet.flags = SERIAL_CONTROL_FLAG_REPLY;
// work out how many bytes are available
int16_t available = stream->available();
if (available < 0) {
available = 0;
}
if (available > (int16_t)sizeof(packet.data)) {
available = sizeof(packet.data);
}
if (available == 0 && (flags & SERIAL_CONTROL_FLAG_BLOCKING) == 0) {
return;
}
if (packet.flags & SERIAL_CONTROL_FLAG_BLOCKING) {
while (!HAVE_PAYLOAD_SPACE(chan, SERIAL_CONTROL)) {
hal.scheduler->delay(1);
}
} else {
if (!HAVE_PAYLOAD_SPACE(chan, SERIAL_CONTROL)) {
// no space for reply
return;
}
}
// read any reply data
packet.count = 0;
memset(packet.data, 0, sizeof(packet.data));
while (available > 0) {
packet.data[packet.count++] = (uint8_t)stream->read();
available--;
}
// and send the reply
_mav_finalize_message_chan_send(chan,
MAVLINK_MSG_ID_SERIAL_CONTROL,
(const char *)&packet,
MAVLINK_MSG_ID_SERIAL_CONTROL_MIN_LEN,
MAVLINK_MSG_ID_SERIAL_CONTROL_LEN,
MAVLINK_MSG_ID_SERIAL_CONTROL_CRC);
if ((flags & SERIAL_CONTROL_FLAG_MULTI) && packet.count != 0) {
if (flags & SERIAL_CONTROL_FLAG_BLOCKING) {
hal.scheduler->delay(1);
}
goto more_data;
}
}
/*
* periodic update to handle vehicle timeouts and trigger collision detection
*/
void AP_ADSB::update(void)
{
// update _my_loc
if (!AP::ahrs().get_position(_my_loc)) {
_my_loc.zero();
}
if (!_enabled) {
if (in_state.vehicle_list != nullptr) {
deinit();
}
// nothing to do
return;
} else if (in_state.vehicle_list == nullptr) {
init();
return;
} else if (in_state.list_size != in_state.list_size_param) {
deinit();
return;
}
uint32_t now = AP_HAL::millis();
// check current list for vehicles that time out
uint16_t index = 0;
while (index < in_state.vehicle_count) {
// check list and drop stale vehicles. When disabled, the list will get flushed
if (now - in_state.vehicle_list[index].last_update_ms > VEHICLE_TIMEOUT_MS) {
// don't increment index, we want to check this same index again because the contents changed
// also, if we're disabled then clear the list
delete_vehicle(index);
} else {
index++;
}
}
if (_my_loc.is_zero()) {
// if we don't have a GPS lock then there's nothing else to do
return;
}
if (out_state.chan < 0) {
// if there's no transceiver detected then do not set ICAO and do not service the transceiver
return;
}
if (out_state.cfg.squawk_octal_param != out_state.cfg.squawk_octal) {
// param changed, check that it's a valid octal
if (!is_valid_octal(out_state.cfg.squawk_octal_param)) {
// invalid, reset it to default
out_state.cfg.squawk_octal_param = ADSB_SQUAWK_OCTAL_DEFAULT;
}
out_state.cfg.squawk_octal = (uint16_t)out_state.cfg.squawk_octal_param;
}
// ensure it's positive 24bit but allow -1
if (out_state.cfg.ICAO_id_param <= -1 || out_state.cfg.ICAO_id_param > 0x00FFFFFF) {
// icao param of -1 means static information is not sent, transceiver is assumed pre-programmed.
// reset timer constantly so it never reaches 10s so it never sends
out_state.last_config_ms = now;
} else if (out_state.cfg.ICAO_id == 0 ||
out_state.cfg.ICAO_id_param_prev != out_state.cfg.ICAO_id_param) {
// if param changed then regenerate. This allows the param to be changed back to zero to trigger a re-generate
if (out_state.cfg.ICAO_id_param == 0) {
out_state.cfg.ICAO_id = genICAO(_my_loc);
} else {
out_state.cfg.ICAO_id = out_state.cfg.ICAO_id_param;
}
out_state.cfg.ICAO_id_param_prev = out_state.cfg.ICAO_id_param;
set_callsign("PING", true);
gcs().send_text(MAV_SEVERITY_INFO, "ADSB: Using ICAO_id %d and Callsign %s", out_state.cfg.ICAO_id, out_state.cfg.callsign);
out_state.last_config_ms = 0; // send now
}
// send static configuration data to transceiver, every 5s
if (out_state.chan_last_ms > 0 && now - out_state.chan_last_ms > ADSB_CHAN_TIMEOUT_MS) {
// haven't gotten a heartbeat health status packet in a while, assume hardware failure
// TODO: reset out_state.chan
out_state.chan = -1;
gcs().send_text(MAV_SEVERITY_ERROR, "ADSB: Transceiver heartbeat timed out");
} else if (out_state.chan < MAVLINK_COMM_NUM_BUFFERS) {
mavlink_channel_t chan = (mavlink_channel_t)(MAVLINK_COMM_0 + out_state.chan);
if (now - out_state.last_config_ms >= 5000 && HAVE_PAYLOAD_SPACE(chan, UAVIONIX_ADSB_OUT_CFG)) {
out_state.last_config_ms = now;
send_configure(chan);
} // last_config_ms
// send dynamic data to transceiver at 5Hz
if (now - out_state.last_report_ms >= 200 && HAVE_PAYLOAD_SPACE(chan, UAVIONIX_ADSB_OUT_DYNAMIC)) {
out_state.last_report_ms = now;
send_dynamic_out(chan);
} // last_report_ms
} // chan_last_ms
}
void SoloGimbal::send_controls(mavlink_channel_t chan)
{
if (_state == GIMBAL_STATE_PRESENT_RUNNING) {
// get the gimbal quaternion estimate
Quaternion quatEst;
_ekf.getQuat(quatEst);
// run rate controller
_ang_vel_dem_rads.zero();
switch(get_mode()) {
case GIMBAL_MODE_POS_HOLD_FF: {
_ang_vel_dem_rads += get_ang_vel_dem_body_lock();
_ang_vel_dem_rads += get_ang_vel_dem_gyro_bias();
float _ang_vel_dem_radsLen = _ang_vel_dem_rads.length();
if (_ang_vel_dem_radsLen > radians(400)) {
_ang_vel_dem_rads *= radians(400)/_ang_vel_dem_radsLen;
}
if (HAVE_PAYLOAD_SPACE(chan, GIMBAL_CONTROL)) {
mavlink_msg_gimbal_control_send(chan, mavlink_system.sysid, _compid,
_ang_vel_dem_rads.x, _ang_vel_dem_rads.y, _ang_vel_dem_rads.z);
}
break;
}
case GIMBAL_MODE_STABILIZE: {
_ang_vel_dem_rads += get_ang_vel_dem_yaw(quatEst);
_ang_vel_dem_rads += get_ang_vel_dem_tilt(quatEst);
_ang_vel_dem_rads += get_ang_vel_dem_feedforward(quatEst);
_ang_vel_dem_rads += get_ang_vel_dem_gyro_bias();
float ang_vel_dem_norm = _ang_vel_dem_rads.length();
if (ang_vel_dem_norm > radians(400)) {
_ang_vel_dem_rads *= radians(400)/ang_vel_dem_norm;
}
if (HAVE_PAYLOAD_SPACE(chan, GIMBAL_CONTROL)) {
mavlink_msg_gimbal_control_send(chan, mavlink_system.sysid, _compid,
_ang_vel_dem_rads.x, _ang_vel_dem_rads.y, _ang_vel_dem_rads.z);
}
break;
}
default:
case GIMBAL_MODE_IDLE:
case GIMBAL_MODE_POS_HOLD:
break;
}
}
// set GMB_POS_HOLD
if (get_mode() == GIMBAL_MODE_POS_HOLD) {
_gimbalParams.set_param(GMB_PARAM_GMB_POS_HOLD, 1);
} else {
_gimbalParams.set_param(GMB_PARAM_GMB_POS_HOLD, 0);
}
// set GMB_MAX_TORQUE
float max_torque;
_gimbalParams.get_param(GMB_PARAM_GMB_MAX_TORQUE, max_torque, 0);
if (!is_equal(max_torque,_max_torque) && !is_zero(max_torque)) {
_max_torque = max_torque;
}
if (!hal.util->get_soft_armed() || joints_near_limits()) {
_gimbalParams.set_param(GMB_PARAM_GMB_MAX_TORQUE, _max_torque);
} else {
_gimbalParams.set_param(GMB_PARAM_GMB_MAX_TORQUE, 0);
}
}
/*
Set the flight control servos based on the current calculated values
This function operates by first building up output values for
channels using set_servo() and set_radio_out(). Using
set_radio_out() is for when a raw PWM value of output is given which
does not depend on any output scaling. Using set_servo() is for when
scaling and mixing will be needed.
Finally servos_output() is called to push the final PWM values
for output channels
*/
void Plane::set_servos(void)
{
// start with output corked. the cork is released when we run
// servos_output(), which is run from all code paths in this
// function
SRV_Channels::cork();
// this is to allow the failsafe module to deliberately crash
// the plane. Only used in extreme circumstances to meet the
// OBC rules
if (afs.should_crash_vehicle()) {
afs.terminate_vehicle();
return;
}
// do any transition updates for quadplane
quadplane.update();
if (control_mode == AUTO && auto_state.idle_mode) {
// special handling for balloon launch
set_servos_idle();
servos_output();
return;
}
/*
see if we are doing ground steering.
*/
if (!steering_control.ground_steering) {
// we are not at an altitude for ground steering. Set the nose
// wheel to the rudder just in case the barometer has drifted
// a lot
steering_control.steering = steering_control.rudder;
} else if (!SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
// we are within the ground steering altitude but don't have a
// dedicated steering channel. Set the rudder to the ground
// steering output
steering_control.rudder = steering_control.steering;
}
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, steering_control.rudder);
// clear ground_steering to ensure manual control if the yaw stabilizer doesn't run
steering_control.ground_steering = false;
if (control_mode == TRAINING) {
steering_control.rudder = channel_rudder->get_control_in();
}
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, steering_control.rudder);
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, steering_control.steering);
if (control_mode == MANUAL) {
set_servos_manual_passthrough();
} else {
set_servos_controlled();
}
// setup flap outputs
set_servos_flaps();
if (auto_throttle_mode ||
quadplane.in_assisted_flight() ||
quadplane.in_vtol_mode()) {
/* only do throttle slew limiting in modes where throttle
* control is automatic */
throttle_slew_limit();
}
if (!arming.is_armed()) {
//Some ESCs get noisy (beep error msgs) if PWM == 0.
//This little segment aims to avoid this.
switch (arming.arming_required()) {
case AP_Arming::NO:
//keep existing behavior: do nothing to radio_out
//(don't disarm throttle channel even if AP_Arming class is)
break;
case AP_Arming::YES_ZERO_PWM:
SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, 0);
break;
case AP_Arming::YES_MIN_PWM:
default:
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
break;
}
}
#if HIL_SUPPORT
if (g.hil_mode == 1) {
// get the servos to the GCS immediately for HIL
if (HAVE_PAYLOAD_SPACE(MAVLINK_COMM_0, RC_CHANNELS_SCALED)) {
send_servo_out(MAVLINK_COMM_0);
}
if (!g.hil_servos) {
// we don't run the output mixer
return;
}
}
#endif
if (landing.get_then_servos_neutral() > 0 &&
control_mode == AUTO &&
landing.get_disarm_delay() > 0 &&
landing.is_complete() &&
!arming.is_armed()) {
// after an auto land and auto disarm, set the servos to be neutral just
// in case we're upside down or some crazy angle and straining the servos.
if (landing.get_then_servos_neutral() == 1) {
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
} else if (landing.get_then_servos_neutral() == 2) {
SRV_Channels::set_output_limit(SRV_Channel::k_aileron, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_elevator, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_rudder, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
}
}
uint8_t override_pct;
if (g2.ice_control.throttle_override(override_pct)) {
// the ICE controller wants to override the throttle for starting
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, override_pct);
}
// run output mixer and send values to the hal for output
servos_output();
}
