/*
allow for runtime change of control channel ordering
*/
void Plane::set_control_channels(void)
{
if (g.rudder_only) {
// in rudder only mode the roll and rudder channels are the
// same.
channel_roll = RC_Channels::rc_channel(rcmap.yaw()-1);
} else {
channel_roll = RC_Channels::rc_channel(rcmap.roll()-1);
}
channel_pitch = RC_Channels::rc_channel(rcmap.pitch()-1);
channel_throttle = RC_Channels::rc_channel(rcmap.throttle()-1);
channel_rudder = RC_Channels::rc_channel(rcmap.yaw()-1);
// set rc channel ranges
channel_roll->set_angle(SERVO_MAX);
channel_pitch->set_angle(SERVO_MAX);
channel_rudder->set_angle(SERVO_MAX);
if (!have_reverse_thrust()) {
// normal operation
channel_throttle->set_range(100);
} else {
// reverse thrust
if (have_reverse_throttle_rc_option) {
// when we have a reverse throttle RC option setup we use throttle
// as a range, and rely on the RC switch to get reverse thrust
channel_throttle->set_range(100);
} else {
channel_throttle->set_angle(100);
}
SRV_Channels::set_angle(SRV_Channel::k_throttle, 100);
SRV_Channels::set_angle(SRV_Channel::k_throttleLeft, 100);
SRV_Channels::set_angle(SRV_Channel::k_throttleRight, 100);
}
if (!arming.is_armed() && arming.arming_required() == AP_Arming::YES_MIN_PWM) {
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
}
if (!quadplane.enable) {
// setup correct scaling for ESCs like the UAVCAN PX4ESC which
// take a proportion of speed. For quadplanes we use AP_Motors
// scaling
g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
}
}
/*
initialise RC output for main channels. This is done early to allow
for BRD_SAFETYENABLE=0 and early servo control
*/
void Plane::init_rc_out_main()
{
/*
change throttle trim to minimum throttle. This prevents a
configuration error where the user sets CH3_TRIM incorrectly and
the motor may start on power up
*/
if (!have_reverse_thrust()) {
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttle);
}
SRV_Channels::set_failsafe_limit(SRV_Channel::k_aileron, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
// setup PX4 to output the min throttle when safety off if arming
// is setup for min on disarm
if (arming.arming_required() == AP_Arming::YES_MIN_PWM) {
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
}
}
/*
support for twin-engine planes
*/
void Plane::servos_twin_engine_mix(void)
{
float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
float rud_gain = float(plane.g2.rudd_dt_gain) / 100;
rudder_dt = rud_gain * SRV_Channels::get_output_scaled(SRV_Channel::k_rudder) / float(SERVO_MAX);
#if ADVANCED_FAILSAFE == ENABLED
if (afs.should_crash_vehicle()) {
// when in AFS failsafe force rudder input for differential thrust to zero
rudder_dt = 0;
}
#endif
float throttle_left, throttle_right;
if (throttle < 0 && have_reverse_thrust() && allow_reverse_thrust()) {
// doing reverse thrust
throttle_left = constrain_float(throttle + 50 * rudder_dt, -100, 0);
throttle_right = constrain_float(throttle - 50 * rudder_dt, -100, 0);
} else if (throttle <= 0) {
throttle_left = throttle_right = 0;
} else {
// doing forward thrust
throttle_left = constrain_float(throttle + 50 * rudder_dt, 0, 100);
throttle_right = constrain_float(throttle - 50 * rudder_dt, 0, 100);
}
if (!hal.util->get_soft_armed()) {
if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) {
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0);
}
} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right);
throttle_slew_limit(SRV_Channel::k_throttleLeft);
throttle_slew_limit(SRV_Channel::k_throttleRight);
}
}
