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tap_esc: add support for MC_AIRMODE #9173

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merged 2 commits into from
Mar 30, 2018
Merged

tap_esc: add support for MC_AIRMODE #9173

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44cd2c5
tap_esc: remove NAN_VALUE define and use existing NAN instead
bkueng Mar 27, 2018
8e9b27d
tap_esc: add MC_AIRMODE support
bkueng Mar 27, 2018
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33 changes: 28 additions & 5 deletions src/drivers/tap_esc/tap_esc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
#include <lib/mathlib/mathlib.h>
#include <systemlib/px4_macros.h>
#include <drivers/device/device.h>
#include <px4_module_params.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
Expand All @@ -51,17 +52,15 @@
#include <uORB/topics/input_rc.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>

#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <lib/mixer/mixer.h>
#include <systemlib/param/param.h>
#include <systemlib/pwm_limit/pwm_limit.h>

#include "tap_esc_common.h"

#define NAN_VALUE (0.0f/0.0f)

#ifndef B250000
#define B250000 250000
#endif
Expand All @@ -81,7 +80,7 @@
*/

static int _uart_fd = -1; //todo:refactor in to class
class TAP_ESC : public device::CDev
class TAP_ESC : public device::CDev, public ModuleParams
{
public:
enum Mode {
Expand Down Expand Up @@ -115,6 +114,7 @@ class TAP_ESC : public device::CDev
// subscriptions
int _armed_sub;
int _test_motor_sub;
int _params_sub;
orb_advert_t _outputs_pub;
actuator_outputs_s _outputs;
actuator_armed_s _armed;
Expand Down Expand Up @@ -142,6 +142,12 @@ class TAP_ESC : public device::CDev
unsigned _current_update_rate;
ESC_UART_BUF uartbuf;
EscPacket _packet;


DEFINE_PARAMETERS(
(ParamBool<px4::params::MC_AIRMODE>) _airmode ///< multicopter air-mode
)

void subscribe();

void work_start();
Expand Down Expand Up @@ -169,11 +175,13 @@ TAP_ESC *tap_esc = nullptr;

TAP_ESC::TAP_ESC(int channels_count):
CDev("tap_esc", TAP_ESC_DEVICE_PATH),
ModuleParams(nullptr),
_is_armed(false),
_poll_fds_num(0),
_mode(MODE_4PWM), //FIXME: what is this mode used for???
_armed_sub(-1),
_test_motor_sub(-1),
_params_sub(-1),
_outputs_pub(nullptr),
_armed{},
_esc_feedback_pub(nullptr),
Expand Down Expand Up @@ -576,6 +584,7 @@ TAP_ESC::cycle()
_to_mixer_status = orb_advertise(ORB_ID(multirotor_motor_limits), &multirotor_motor_limits);
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_test_motor_sub = orb_subscribe(ORB_ID(test_motor));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_initialized = true;
}

Expand Down Expand Up @@ -613,6 +622,9 @@ TAP_ESC::cycle()
_current_update_rate = max_rate;
}

if (_mixers) {
_mixers->set_airmode(_airmode.get());
}


/* check if anything updated */
Expand Down Expand Up @@ -787,6 +799,16 @@ TAP_ESC::cycle()

}

/* check for parameter updates */
bool param_updated = false;
orb_check(_params_sub, &param_updated);

if (param_updated) {
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
updateParams();
}


}

Expand All @@ -803,6 +825,7 @@ void TAP_ESC::work_stop()
_armed_sub = -1;
orb_unsubscribe(_test_motor_sub);
_test_motor_sub = -1;
orb_unsubscribe(_params_sub);

DEVICE_LOG("stopping");
_initialized = false;
Expand Down Expand Up @@ -844,7 +867,7 @@ int TAP_ESC::control_callback(uint8_t control_group, uint8_t control_index, floa
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* set the throttle to an invalid value */
input = NAN_VALUE;
input = NAN;
}
}

Expand Down