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rc telemetry tests

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This commit is contained in:
Martin Mueller
2009-10-19 18:32:12 +00:00
parent aa59c55cf7
commit 96f84e3757
7 changed files with 138 additions and 15 deletions
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conf/airframes/miniwing.xml
+2 -6
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@@ -12,8 +12,8 @@
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1720" neutral="1316" max="1000"/>
<servo name="AILEVON_RIGHT" no="6" min="1220" neutral="1542" max="1840"/>
<servo name="AILEVON_LEFT" no="2" min="1720" neutral="1341" max="1000"/>
<servo name="AILEVON_RIGHT" no="6" min="1220" neutral="1523" max="1840"/>
</servos>
<commands>
@@ -172,10 +172,6 @@
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section>
<makefile>
CONFIG = \"tiny_2_1.h\"
conf/radios/generic_tm.xml
+60
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@@ -0,0 +1,60 @@
<?xml version="1.0"?>
<!-- $Id: mc24.xml 3610 2009-07-02 16:35:18Z poine $
--
-- (c) 2003 Pascal Brisset, Antoine Drouin
--
-- This file is part of paparazzi.
--
-- paparazzi is free software; you can redistribute it and/or modify
-- it under the terms of the GNU General Public License as published by
-- the Free Software Foundation; either version 2, or (at your option)
-- any later version.
--
-- paparazzi is distributed in the hope that it will be useful,
-- but WITHOUT ANY WARRANTY; without even the implied warranty of
-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-- GNU General Public License for more details.
--
-- You should have received a copy of the GNU General Public License
-- along with paparazzi; see the file COPYING. If not, write to
-- the Free Software Foundation, 59 Temple Place - Suite 330,
-- Boston, MA 02111-1307, USA.
-->
<!--
-- Attributes of root (Radio) tag :
-- name: name of RC
-- data_min: min width of a pulse to be considered as a data pulse
-- data_max: max width of a pulse to be considered as a data pulse
-- sync_min: min width of a pulse to be considered as a synchro pulse
-- sync_max: max width of a pulse to be considered as a synchro pulse
-- min, max and sync are expressed in micro-seconds
-->
<!--
-- Attributes of channel tag :
-- ctl: name of the command on the transmitter - only for displaying
-- no: order in the PPM frame
-- function: logical command
-- averaged: channel filtered through several frames (for discrete commands)
-- min: minimum pulse length (micro-seconds)
-- max: maximum pulse length (micro-seconds)
-- neutral: neutral pulse length (micro-seconds)
-- Note: a command may be reversed by exchanging min and max values
-->
<!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="generic" data_min="800" data_max="2200" sync_min="5000" sync_max="15000" pulse_type="POSITIVE">
<channel ctl="D" function="THROTTLE" min="1000" neutral="1000" max="2000" average="0"/>
<channel ctl="C" function="ROLL" min="1000" neutral="1500" max="2000" average="0"/>
<channel ctl="B" function="PITCH" min="2000" neutral="1500" max="1000" average="0"/>
<channel ctl="A" function="YAW" min="1000" neutral="1500" max="2000" average="0"/>
<channel ctl="G" function="SWITCH1" min="1000" neutral="1500" max="2000" average="1"/>
<channel ctl="E" function="GAIN1" min="1000" neutral="1500" max="2000" average="1"/>
<channel ctl="F" function="CALIB" min="1000" neutral="1500" max="2000" average="0"/>
<channel ctl="H" function="MODE" min="1000" neutral="1500" max="2000" average="1"/>
<channel ctl="I" function="SWITCH2" min="1000" neutral="1500" max="2000" average="1"/>
</radio>
sw/airborne/datalink.c
+12
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@@ -45,6 +45,10 @@
#include "joystick.h"
#endif
#ifdef USE_RC_TELEMETRY
#include "ppm.h"
#endif
#ifdef USE_USB_SERIAL
#include "usb_serial.h"
#endif
@@ -165,6 +169,14 @@ void dl_parse_msg(void) {
DL_JOYSTICK_RAW_throttle(dl_buffer));
} else
#endif // USE_JOYSTICK
#ifdef USE_RC_TELEMETRY
if (msg_id == DL_RC_3CH /*&& DL_RC_3CH_ac_id(dl_buffer) == TX_ID*/) {
LED_TOGGLE(3);
ppm_datalink(DL_RC_3CH_throttle_mode(dl_buffer),
DL_RC_3CH_roll(dl_buffer),
DL_RC_3CH_pitch(dl_buffer));
} else
#endif // USE_RC_TELEMETRY
{ /* Last else */
#ifdef USE_MODULES
/* Parse modules datalink */
sw/airborne/ppm.h
+4
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@@ -32,7 +32,11 @@
extern uint16_t ppm_pulses[ PPM_NB_PULSES ];
extern volatile bool_t ppm_valid;
#ifdef USE_RC_TELEMETRY
#include "ppm_telemetry.h"
#else
#include "ppm_hw.h"
#endif
#endif /* RADIO_CONTROL */
sw/airborne/ppm_telemetry.c
+26
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@@ -0,0 +1,26 @@
#include "ppm.h"
#include "std.h"
#define PPM_NB_CHANNEL PPM_NB_PULSES
uint16_t ppm_pulses[PPM_NB_CHANNEL];
volatile bool_t ppm_valid;
void ppm_datalink( uint8_t throttle_mode,
int8_t roll,
int8_t pitch)
{
int throttle = throttle_mode & 0xFC;
int mode = throttle_mode & 0x03;
ppm_pulses[RADIO_ROLL] = (roll * 4 + 1500) * 15;
ppm_pulses[RADIO_PITCH] = (pitch * 4 + 1500) * 15;
ppm_pulses[RADIO_THROTTLE] = (throttle * 4 + 1000) * 15;
ppm_pulses[RADIO_MODE] = (1000 + mode * 500) * 15;
ppm_valid = TRUE;
}
sw/airborne/ppm_telemetry.h
+21
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@@ -0,0 +1,21 @@
#ifndef PPM_TELEMETRY_H
#define PPM_TELEMETRY_H
#include BOARD_CONFIG
static inline void ppm_init ( void ) {
ppm_valid = FALSE;
}
#define PPM_ISR() {}
#define PPM_IT 0x00
void ppm_datalink( uint8_t throttle_mode,
int8_t roll,
int8_t pitch)
;
#endif /* PPM_TELEMETRY_H */
sw/logalizer/ctrlstick.c
+13 -9
View File
@@ -21,7 +21,7 @@
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
//#define DBG 1
#define DBG 1
#include <stdio.h>
#include <stdlib.h>
@@ -62,19 +62,23 @@
#if 1
// e-sky 0905A simulator fms
#define AXIS_YAW ABS_X
#define AXIS_PITCH ABS_Y
#define AXIS_ROLL ABS_Z
#define AXIS_THROTTLE ABS_RY
//#define AXIS_YAW ABS_X
//#define AXIS_ROLL ABS_Z
//#define AXIS_THROTTLE ABS_RY
//#define AXIS_PITCH ABS_Y
#define AXIS_YAW ABS_RY
#define AXIS_ROLL ABS_Y
#define AXIS_THROTTLE ABS_X
#define AXIS_PITCH ABS_Z
#define THROTTLE_MIN (-90)
#define THROTTLE_NEUTRAL (0)
#define THROTTLE_MAX (90)
#define ROLL_MIN (-122)
#define ROLL_NEUTRAL (-2)
#define ROLL_NEUTRAL (-13)
#define ROLL_MAX (113)
#define PITCH_MIN (-109)
#define PITCH_NEUTRAL (2)
#define PITCH_NEUTRAL (-2)
#define PITCH_MAX (109)
#define YAW_MIN (125)
#define YAW_NEUTRAL (-13
@@ -315,8 +319,8 @@ static gboolean joystick_periodic(gpointer data __attribute__ ((unused))) {
{
dbgprintf(stdout, "pos %d %d %d %d\n", position[0], position[1], position[2], position[3]);
if (position[3] > 125) mode = 1;
else if (position[3] < -125) mode = 2;
if (position[3] > 125) mode = 2;
else if (position[3] < -125) mode = 1;
else mode = 0;
throttle = ((position[0] - THROTTLE_NEUTRAL -THROTTLE_MIN) * 63) / (THROTTLE_MAX-THROTTLE_MIN);