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Fix up FMU input timeout handling.

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Fix the FMU auto OK LED status.
Strip out unused fields from the system state structure.
This commit is contained in:
px4dev
2013-01-14 01:11:29 -08:00
parent 06b66ad065
commit 5c60ed9a94
5 changed files with 8 additions and 96 deletions
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apps/px4io/mixer.cpp
+2 -2
View File
@@ -66,7 +66,7 @@ extern "C" {
#define OVERRIDE 4
/* current servo arm/disarm state */
bool mixer_servos_armed = false;
static bool mixer_servos_armed = false;
/* selected control values and count for mixing */
enum mixer_source {
@@ -89,7 +89,7 @@ mixer_tick(void)
/* check that we are receiving fresh data from the FMU */
if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
/* too many frames without FMU input, time to go to failsafe */
/* too long without FMU input, time to go to failsafe */
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_FMU_OK;
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
apps/px4io/protocol.h
-2
View File
@@ -185,5 +185,3 @@ struct px4io_mixdata {
/* maximum size is limited by the link frame size XXX use config values to set this */
#define F2I_MIXER_MAX_TEXT (64 - sizeof(struct px4io_mixdata))
#pragma pack(pop)
apps/px4io/px4io.h
-91
View File
@@ -101,107 +101,16 @@ extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */
/*
* System state structure.
*
* XXX note that many fields here are deprecated and replaced by
* registers.
*/
struct sys_state_s {
// bool armed; /* IO armed */
// bool arm_ok; /* FMU says OK to arm */
// uint16_t servo_rate; /* output rate of servos in Hz */
/**
* Remote control input(s) channel mappings
*/
uint8_t rc_map[4];
/**
* Remote control channel attributes
*/
uint16_t rc_min[4];
uint16_t rc_trim[4];
uint16_t rc_max[4];
int16_t rc_rev[4];
uint16_t rc_dz[4];
/**
* Data from the remote control input(s)
*/
// unsigned rc_channels;
// uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS];
uint64_t rc_channels_timestamp;
/**
* Control signals from FMU.
*/
// uint16_t fmu_channel_data[PX4IO_CONTROL_CHANNELS];
/**
* Mixed servo outputs
*/
// uint16_t servos[IO_SERVO_COUNT];
/**
* Relay controls
*/
// bool relays[PX4IO_RELAY_CHANNELS];
/**
* If true, we are using the FMU controls, else RC input if available.
*/
// bool mixer_manual_override;
/**
* If true, FMU input is available.
*/
// bool mixer_fmu_available;
/**
* If true, state that should be reported to FMU has been updated.
*/
// bool fmu_report_due;
/**
* Last FMU receive time, in microseconds since system boot
*/
uint64_t fmu_data_received_time;
/**
* If true, the RC signal has been lost for more than a timeout interval
*/
// bool rc_lost;
/**
* If true, the connection to FMU has been lost for more than a timeout interval
*/
// bool fmu_lost;
/**
* If true, FMU is ready for autonomous position control. Only used for LED indication
*/
bool vector_flight_mode_ok;
/**
* If true, IO performs an on-board manual override with the RC channel values
*/
// bool manual_override_ok;
/*
* Measured battery voltage in mV
*/
// uint16_t battery_mv;
/*
* ADC IN5 measurement
*/
// uint16_t adc_in5;
/*
* Power supply overcurrent status bits.
*/
// uint8_t overcurrent;
};
extern struct sys_state_s system_state;
apps/px4io/registers.c
+5
View File
@@ -42,6 +42,8 @@
#include <stdbool.h>
#include <stdlib.h>
#include <drivers/drv_hrt.h>
#include "px4io.h"
#include "protocol.h"
@@ -140,6 +142,8 @@ uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE
void
registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
system_state.fmu_data_received_time = hrt_absolute_time();
switch (page) {
/* handle bulk controls input */
@@ -157,6 +161,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
}
/* XXX we should cause a mixer tick ASAP */
system_state.fmu_data_received_time = hrt_absolute_time();
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
break;
apps/px4io/safety.c
+1 -1
View File
@@ -151,7 +151,7 @@ safety_check_button(void *arg)
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
pattern = LED_PATTERN_FMU_ARMED;
} else if (system_state.vector_flight_mode_ok) {
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) {
pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK;
}