rc_calibration.cpp
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/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file rc_calibration.cpp
* Remote Control calibration routine
*/
#include <px4_platform_common/posix.h>
#include <px4_platform_common/time.h>
#include <px4_platform_common/defines.h>
#include "rc_calibration.h"
#include "commander_helper.h"
#include <uORB/Subscription.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <systemlib/mavlink_log.h>
#include <parameters/param.h>
#include <systemlib/err.h>
int do_trim_calibration(orb_advert_t *mavlink_log_pub)
{
uORB::Subscription manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
px4_usleep(400000);
manual_control_setpoint_s manual_control_setpoint{};
bool changed = manual_control_setpoint_sub.updated();
if (!changed) {
mavlink_log_critical(mavlink_log_pub, "no inputs, aborting");
return PX4_ERROR;
}
manual_control_setpoint_sub.copy(&manual_control_setpoint);
/* load trim values which are active */
float roll_trim_active;
param_get(param_find("TRIM_ROLL"), &roll_trim_active);
float pitch_trim_active;
param_get(param_find("TRIM_PITCH"), &pitch_trim_active);
float yaw_trim_active;
param_get(param_find("TRIM_YAW"), &yaw_trim_active);
/* get manual control scale values */
float roll_scale;
param_get(param_find("FW_MAN_R_SC"), &roll_scale);
float pitch_scale;
param_get(param_find("FW_MAN_P_SC"), &pitch_scale);
float yaw_scale;
param_get(param_find("FW_MAN_Y_SC"), &yaw_scale);
/* set parameters: the new trim values are the combination of active trim values
and the values coming from the remote control of the user
*/
float p = manual_control_setpoint.y * roll_scale + roll_trim_active;
int p1r = param_set(param_find("TRIM_ROLL"), &p);
/*
we explicitly swap sign here because the trim is added to the actuator controls
which are moving in an inverse sense to manual pitch inputs
*/
p = -manual_control_setpoint.x * pitch_scale + pitch_trim_active;
int p2r = param_set(param_find("TRIM_PITCH"), &p);
p = manual_control_setpoint.r * yaw_scale + yaw_trim_active;
int p3r = param_set(param_find("TRIM_YAW"), &p);
if (p1r != 0 || p2r != 0 || p3r != 0) {
mavlink_log_critical(mavlink_log_pub, "TRIM: PARAM SET FAIL");
return PX4_ERROR;
}
mavlink_log_info(mavlink_log_pub, "trim cal done");
return PX4_OK;
}