philip/MDH-UAV-Control-System
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Merge remote-tracking branch 'refs/remotes/origin/master' into PID

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This commit is contained in:
johan9107 2016-10-18 17:00:08 +02:00
commit 4120569ed3
3 changed files with 41 additions and 28 deletions
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24
UAV-ControlSystem/inc/drivers/failsafe_toggles.h
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@ -28,12 +28,13 @@
#define getFlagMaskValue(x) (1 << x)
#define failSafe_vals_offset 0 //offset for the fail safe values in the bitfield
#define boolean_vals_offset 2 //offset for the booleans values in the bitfield
#define boolean_vals_offset 3 //offset for the booleans values in the bitfield
/*If a new value is added to the bitfield these IDs must be reviewed and checkd so that they still are correct*/
//failsafe values
#define systemFlags_Failsafe_rcChannelInRange_id 0 + failSafe_vals_offset
#define systemFlags_Failsafe_noRcReceived_id 1 + failSafe_vals_offset
#define systemFlags_Failsafe_toManyMissedFrames_id 2 + failSafe_vals_offset
//other flags
#define systemFlags_armed_id 0 + boolean_vals_offset
@ -48,18 +49,19 @@
/*Mask values for each of the flag values*/
//failsafe values
#define systemFlags_Failsafe_rcChannelInRange_mask getFlagMaskValue(systemFlags_Failsafe_rcChannelInRange_id)
#define systemFlags_Failsafe_noRcReceived_mask getFlagMaskValue(systemFlags_Failsafe_noRcReceived_id)
#define systemFlags_Failsafe_rcChannelInRange_mask getFlagMaskValue(systemFlags_Failsafe_rcChannelInRange_id)
#define systemFlags_Failsafe_noRcReceived_mask getFlagMaskValue(systemFlags_Failsafe_noRcReceived_id)
#define systemFlags_Failsafe_toManyMissedFrames_mask getFlagMaskValue(systemFlags_Failsafe_toManyMissedFrames_id)
//other flags
#define systemFlags_armed_mask getFlagMaskValue(systemFlags_armed_id)
#define systemFlags_flightmode_acceleromter_mask getFlagMaskValue(systemFlags_flightmode_acceleromter_id)
#define systemFlags_flightmode_barometer_mask getFlagMaskValue(systemFlags_flightmode_barometer_id)
#define systemFlags_flightmode_compass_mask getFlagMaskValue(systemFlags_flightmode_compass_id)
#define systemFlags_flightmode_gps_mask getFlagMaskValue(systemFlags_flightmode_gps_id)
#define systemFlags_mixerfullscale_mask getFlagMaskValue(systemFlags_mixerfullscale_id)
#define systemFlags_mixerlowscale_mask getFlagMaskValue(systemFlags_mixerlowscale_id)
#define systemFlags_flightMode_3_mask getFlagMaskValue(systemFlags_flightMode_3_id)
#define systemFlags_armed_mask getFlagMaskValue(systemFlags_armed_id)
#define systemFlags_flightmode_acceleromter_mask getFlagMaskValue(systemFlags_flightmode_acceleromter_id)
#define systemFlags_flightmode_barometer_mask getFlagMaskValue(systemFlags_flightmode_barometer_id)
#define systemFlags_flightmode_compass_mask getFlagMaskValue(systemFlags_flightmode_compass_id)
#define systemFlags_flightmode_gps_mask getFlagMaskValue(systemFlags_flightmode_gps_id)
#define systemFlags_mixerfullscale_mask getFlagMaskValue(systemFlags_mixerfullscale_id)
#define systemFlags_mixerlowscale_mask getFlagMaskValue(systemFlags_mixerlowscale_id)
#define systemFlags_flightMode_3_mask getFlagMaskValue(systemFlags_flightMode_3_id)

2
UAV-ControlSystem/src/drivers/motormix.c
View File

@ -254,7 +254,7 @@ void mix()
for (int i = 0; i < MOTOR_COUNT; i++)
{
/* If engines are armed then give the output to the motors */
if (flags_IsSet_ID(systemFlags_armed_id))
if (flags_IsSet_ID(systemFlags_armed_id) && !flags_IsSet_ID(systemFlags_Failsafe_noRcReceived_id))
motor_output[i] = constrain(motor_output[i], mixerConfig.minCommand, mixerConfig.maxCommand);
/* If not then stop motors */
else

43
UAV-ControlSystem/src/tasks_main.c
View File

@ -99,6 +99,16 @@ void systemTaskRx(void)
// RawRcCommand.Yaw = frame.chan4;
// RawRcCommand.Throttle = frame.chan4;
/* -- Check failsafe for RX -- */
//check no received message
(frame.flag_Failsafe) ? flags_Set_ID(systemFlags_Failsafe_noRcReceived_id) : flags_Clear_ID(systemFlags_Failsafe_noRcReceived_id);
//check missed frames
static int continuousMissedFrames = 0;
continuousMissedFrames = (frame.flag_FrameLost) ? continuousMissedFrames + 1 : 0;
(continuousMissedFrames > 10) ? flags_Set_ID(systemFlags_Failsafe_toManyMissedFrames_id) : flags_Clear_ID(systemFlags_Failsafe_toManyMissedFrames_id);
}
bool systemTaskRxCheck(uint32_t currentDeltaTime)
@ -111,22 +121,23 @@ bool systemTaskRxCheck(uint32_t currentDeltaTime)
bool isReady = sbus_frame_available();
if (isReady == true)
{
flags_Clear_ID(systemFlags_Failsafe_noRcReceived_id);
lastRecievedCommand = clock_get_us();
return isReady;
}
else
{
//check for failsafe
if ((clock_get_us() - lastRecievedCommand) > maxReceiveTrigger)
{
flags_Set_ID(systemFlags_Failsafe_noRcReceived_id);
}
return isReady;
}
// if (isReady == true)
// {
// flags_Clear_ID(systemFlags_Failsafe_noRcReceived_id);
// lastRecievedCommand = clock_get_us();
// return isReady;
// }
// else
// {
// //check for failsafe
// if ((clock_get_us() - lastRecievedCommand) > maxReceiveTrigger)
// {
// flags_Set_ID(systemFlags_Failsafe_noRcReceived_id);
// }
//
// return isReady;
// }
return isReady;
}