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 getFlagMaskValue(x) (1 << x)
#define failSafe_vals_offset 0 //offset for the fail safe values in the bitfield #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*/ /*If a new value is added to the bitfield these IDs must be reviewed and checkd so that they still are correct*/
//failsafe values //failsafe values
#define systemFlags_Failsafe_rcChannelInRange_id 0 + failSafe_vals_offset #define systemFlags_Failsafe_rcChannelInRange_id 0 + failSafe_vals_offset
#define systemFlags_Failsafe_noRcReceived_id 1 + failSafe_vals_offset #define systemFlags_Failsafe_noRcReceived_id 1 + failSafe_vals_offset
#define systemFlags_Failsafe_toManyMissedFrames_id 2 + failSafe_vals_offset
//other flags //other flags
#define systemFlags_armed_id 0 + boolean_vals_offset #define systemFlags_armed_id 0 + boolean_vals_offset
@ -48,18 +49,19 @@
/*Mask values for each of the flag values*/ /*Mask values for each of the flag values*/
//failsafe values //failsafe values
#define systemFlags_Failsafe_rcChannelInRange_mask getFlagMaskValue(systemFlags_Failsafe_rcChannelInRange_id) #define systemFlags_Failsafe_rcChannelInRange_mask getFlagMaskValue(systemFlags_Failsafe_rcChannelInRange_id)
#define systemFlags_Failsafe_noRcReceived_mask getFlagMaskValue(systemFlags_Failsafe_noRcReceived_id) #define systemFlags_Failsafe_noRcReceived_mask getFlagMaskValue(systemFlags_Failsafe_noRcReceived_id)
#define systemFlags_Failsafe_toManyMissedFrames_mask getFlagMaskValue(systemFlags_Failsafe_toManyMissedFrames_id)
//other flags //other flags
#define systemFlags_armed_mask getFlagMaskValue(systemFlags_armed_id) #define systemFlags_armed_mask getFlagMaskValue(systemFlags_armed_id)
#define systemFlags_flightmode_acceleromter_mask getFlagMaskValue(systemFlags_flightmode_acceleromter_id) #define systemFlags_flightmode_acceleromter_mask getFlagMaskValue(systemFlags_flightmode_acceleromter_id)
#define systemFlags_flightmode_barometer_mask getFlagMaskValue(systemFlags_flightmode_barometer_id) #define systemFlags_flightmode_barometer_mask getFlagMaskValue(systemFlags_flightmode_barometer_id)
#define systemFlags_flightmode_compass_mask getFlagMaskValue(systemFlags_flightmode_compass_id) #define systemFlags_flightmode_compass_mask getFlagMaskValue(systemFlags_flightmode_compass_id)
#define systemFlags_flightmode_gps_mask getFlagMaskValue(systemFlags_flightmode_gps_id) #define systemFlags_flightmode_gps_mask getFlagMaskValue(systemFlags_flightmode_gps_id)
#define systemFlags_mixerfullscale_mask getFlagMaskValue(systemFlags_mixerfullscale_id) #define systemFlags_mixerfullscale_mask getFlagMaskValue(systemFlags_mixerfullscale_id)
#define systemFlags_mixerlowscale_mask getFlagMaskValue(systemFlags_mixerlowscale_id) #define systemFlags_mixerlowscale_mask getFlagMaskValue(systemFlags_mixerlowscale_id)
#define systemFlags_flightMode_3_mask getFlagMaskValue(systemFlags_flightMode_3_id) #define systemFlags_flightMode_3_mask getFlagMaskValue(systemFlags_flightMode_3_id)

2
UAV-ControlSystem/src/drivers/motormix.c
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@ -254,7 +254,7 @@ void mix()
for (int i = 0; i < MOTOR_COUNT; i++) for (int i = 0; i < MOTOR_COUNT; i++)
{ {
/* If engines are armed then give the output to the motors */ /* 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); motor_output[i] = constrain(motor_output[i], mixerConfig.minCommand, mixerConfig.maxCommand);
/* If not then stop motors */ /* If not then stop motors */
else else

43
UAV-ControlSystem/src/tasks_main.c
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@ -99,6 +99,16 @@ void systemTaskRx(void)
// RawRcCommand.Yaw = frame.chan4; // RawRcCommand.Yaw = frame.chan4;
// RawRcCommand.Throttle = 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) bool systemTaskRxCheck(uint32_t currentDeltaTime)
@ -111,22 +121,23 @@ bool systemTaskRxCheck(uint32_t currentDeltaTime)
bool isReady = sbus_frame_available(); bool isReady = sbus_frame_available();
if (isReady == true) // if (isReady == true)
{ // {
flags_Clear_ID(systemFlags_Failsafe_noRcReceived_id); // flags_Clear_ID(systemFlags_Failsafe_noRcReceived_id);
lastRecievedCommand = clock_get_us(); // lastRecievedCommand = clock_get_us();
return isReady; // return isReady;
} // }
else // else
{ // {
//check for failsafe // //check for failsafe
if ((clock_get_us() - lastRecievedCommand) > maxReceiveTrigger) // if ((clock_get_us() - lastRecievedCommand) > maxReceiveTrigger)
{ // {
flags_Set_ID(systemFlags_Failsafe_noRcReceived_id); // flags_Set_ID(systemFlags_Failsafe_noRcReceived_id);
} // }
//
return isReady; // return isReady;
} // }
return isReady;
} }