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add RC kill switch

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This commit is contained in:
Mark Whitehorn
2015-12-18 21:21:51 -07:00
committed by Lorenz Meier
parent c802b86acc
commit 8cb472af31
5 changed files with 64 additions and 5 deletions
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msg/manual_control_setpoint.msg
+3 -2
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@@ -38,8 +38,9 @@ float32 aux5 # default function: payload drop
uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL
uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL
uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
uint8 kill_switch # throttle kill: _NORMAL_, KILL
msg/rc_channels.msg
+4 -3
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@@ -1,4 +1,4 @@
int32 RC_CHANNELS_FUNCTION_MAX=20
int32 RC_CHANNELS_FUNCTION_MAX=21
uint8 RC_CHANNELS_FUNCTION_THROTTLE=0
uint8 RC_CHANNELS_FUNCTION_ROLL=1
uint8 RC_CHANNELS_FUNCTION_PITCH=2
@@ -19,11 +19,12 @@ uint8 RC_CHANNELS_FUNCTION_PARAM_1=16
uint8 RC_CHANNELS_FUNCTION_PARAM_2=17
uint8 RC_CHANNELS_FUNCTION_PARAM_3_5=18
uint8 RC_CHANNELS_FUNCTION_RATTITUDE=19
uint8 RC_CHANNELS_FUNCTION_KILLSWITCH=20
uint64 timestamp # Timestamp in microseconds since boot time
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[20] channels # Scaled to -1..1 (throttle: 0..1)
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[20] function # Functions mapping
int8[21] function # Functions mapping
uint8 rssi # Receive signal strength index
bool signal_lost # Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count # Number of dropped frames
src/modules/commander/commander.cpp
+12
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@@ -2284,6 +2284,18 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "main state transition denied");
}
/* check throttle kill switch */
int prevLockdown = armed.lockdown;
if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* set lockdown flag */
armed.lockdown = TRUE;
} else {
armed.lockdown = FALSE;
}
if (prevLockdown != armed.lockdown) {
warnx("armed.lockdown: %d\n", armed.lockdown);
}
} else {
if (!status.rc_input_blocked && !status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "MANUAL CONTROL LOST (at t=%llums)", hrt_absolute_time() / 1000);
src/modules/sensors/sensor_params.c
+28
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@@ -2009,6 +2009,15 @@ PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
*/
PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
/**
* Kill switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Switches
*/
PARAM_DEFINE_INT32(RC_MAP_KILL_SW, 0);
/**
* Flaps channel mapping.
*
@@ -2243,6 +2252,25 @@ PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
*/
PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);
/**
* Threshold for selecting offboard mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_KILLSWITCH_TH, 0.25f);
/**
* PWM input channel that provides RSSI.
*
src/modules/sensors/sensors.cpp
+17
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@@ -277,6 +277,7 @@ private:
int rc_map_loiter_sw;
int rc_map_acro_sw;
int rc_map_offboard_sw;
int rc_map_kill_sw;
int rc_map_flaps;
@@ -297,6 +298,7 @@ private:
float rc_loiter_th;
float rc_acro_th;
float rc_offboard_th;
float rc_killswitch_th;
bool rc_assist_inv;
bool rc_auto_inv;
bool rc_rattitude_inv;
@@ -305,6 +307,7 @@ private:
bool rc_loiter_inv;
bool rc_acro_inv;
bool rc_offboard_inv;
bool rc_killswitch_inv;
float battery_voltage_scaling;
float battery_current_scaling;
@@ -336,6 +339,7 @@ private:
param_t rc_map_loiter_sw;
param_t rc_map_acro_sw;
param_t rc_map_offboard_sw;
param_t rc_map_kill_sw;
param_t rc_map_flaps;
@@ -360,6 +364,7 @@ private:
param_t rc_loiter_th;
param_t rc_acro_th;
param_t rc_offboard_th;
param_t rc_killswitch_th;
param_t battery_voltage_scaling;
param_t battery_current_scaling;
@@ -589,6 +594,7 @@ Sensors::Sensors() :
_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
_parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW");
_parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW");
_parameter_handles.rc_map_kill_sw = param_find("RC_MAP_KILL_SW");
_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
@@ -614,6 +620,7 @@ Sensors::Sensors() :
_parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
_parameter_handles.rc_acro_th = param_find("RC_ACRO_TH");
_parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
_parameter_handles.rc_killswitch_th = param_find("RC_KILLSWITCH_TH");
/* Differential pressure offset */
_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
@@ -774,6 +781,10 @@ Sensors::parameters_update()
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_kill_sw, &(_parameters.rc_map_kill_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
warnx("%s", paramerr);
}
@@ -813,6 +824,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_offboard_th, &(_parameters.rc_offboard_th));
_parameters.rc_offboard_inv = (_parameters.rc_offboard_th < 0);
_parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th);
param_get(_parameter_handles.rc_killswitch_th, &(_parameters.rc_killswitch_th));
_parameters.rc_killswitch_inv = (_parameters.rc_killswitch_th < 0);
_parameters.rc_killswitch_th = fabs(_parameters.rc_killswitch_th);
/* update RC function mappings */
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -827,6 +841,7 @@ Sensors::parameters_update()
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _parameters.rc_map_kill_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
@@ -1955,6 +1970,8 @@ Sensors::rc_poll()
_parameters.rc_acro_inv);
manual.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD,
_parameters.rc_offboard_th, _parameters.rc_offboard_inv);
manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH,
_parameters.rc_killswitch_th, _parameters.rc_killswitch_inv);
/* publish manual_control_setpoint topic */
if (_manual_control_pub != nullptr) {