前言

这一篇分析APM的遥控器数据获取

ArduCopter\Copter.cpp中rc_loop遥控器线程

const AP_Scheduler::Task Copter::scheduler_tasks[] = {SCHED_TASK(rc_loop,              100,    130),SCHED_TASK(throttle_loop,         50,     75),SCHED_TASK(update_GPS,            50,    200),

void Copter::rc_loop()
{// Read radio and 3-position switch on radio// -----------------------------------------read_radio();rc().read_mode_switch();
}

read_radio();

这里开始跳转ArduCopter\Copter.h

    // radio.cppvoid default_dead_zones();void init_rc_in();void init_rc_out();void enable_motor_output();void read_radio();void set_throttle_and_failsafe(uint16_t throttle_pwm);void set_throttle_zero_flag(int16_t throttle_control);void radio_passthrough_to_motors();int16_t get_throttle_mid(void);

这一步不能直接跳转了看了一下注释找一下radio.cpp文件在ArduCopter\radio.cpp中

void Copter::read_radio()
{const uint32_t tnow_ms = millis();if (rc().read_input()) {ap.new_radio_frame = true;set_throttle_and_failsafe(channel_throttle->get_radio_in());set_throttle_zero_flag(channel_throttle->get_control_in());// RC receiver must be attached if we've just got inputap.rc_receiver_present = true;// pass pilot input through to motors (used to allow wiggling servos while disarmed on heli, single, coax copters)radio_passthrough_to_motors();const float dt = (tnow_ms - last_radio_update_ms)*1.0e-3f;rc_throttle_control_in_filter.apply(channel_throttle->get_control_in(), dt);last_radio_update_ms = tnow_ms;return;}// No radio input this timeif (failsafe.radio) {// already in failsafe!return;}const uint32_t elapsed = tnow_ms - last_radio_update_ms;// turn on throttle failsafe if no update from the RC Radio for 500ms or 2000ms if we are using RC_OVERRIDEconst uint32_t timeout = RC_Channels::has_active_overrides() ? FS_RADIO_RC_OVERRIDE_TIMEOUT_MS : FS_RADIO_TIMEOUT_MS;if (elapsed < timeout) {// not timed out yetreturn;}if (!g.failsafe_throttle) {// throttle failsafe not enabledreturn;}if (!ap.rc_receiver_present && !motors->armed()) {// we only failsafe if we are armed OR we have ever seen an RC receiverreturn;}// Nobody ever talks to us.  Log an error and enter failsafe.AP::logger().Write_Error(LogErrorSubsystem::RADIO, LogErrorCode::RADIO_LATE_FRAME);set_failsafe_radio(true);
}

这里重点关注read_input()这个是通道信号输入的刷新

bool RC_Channels::read_input(void)
{if (!hal.rcin->new_input() && !has_new_overrides) {return false;}has_new_overrides = false;bool success = false;for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {success |= channel(i)->update();}return success;
}

直接关注hal.rcin->new_input()

bool RC_Channels::read_input(void)
{if (!hal.rcin->new_input() && !has_new_overrides) {return false;}has_new_overrides = false;bool success = false;for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {success |= channel(i)->update();}return success;
}

channel(i)

    RC_Channel_Copter *channel(const uint8_t chan) override {if (chan >= NUM_RC_CHANNELS) {return nullptr;}return &obj_channels[chan];}

channel(i)->update()信号的读取

radio_in保存读取到的PWM值

bool RC_Channel::update(void)
{if (has_override() && !rc().ignore_overrides()) {radio_in = override_value;} else if (!rc().ignore_receiver()) {radio_in = hal.rcin->read(ch_in);} else {return false;}if (type_in == RC_CHANNEL_TYPE_RANGE) {control_in = pwm_to_range();} else {//RC_CHANNEL_TYPE_ANGLEcontrol_in = pwm_to_angle();}return true;
}

float rcin[8]; // RC input 0..1

read_mode_switch()

此函数的作用是判断飞行器当前的模式和飞行模式的设置

void RC_Channel::read_mode_switch()
{// calculate position of flight mode switchconst uint16_t pulsewidth = get_radio_in();if (pulsewidth <= 900 || pulsewidth >= 2200) {return;  // This is an error condition}modeswitch_pos_t position;if      (pulsewidth < 1231) position = 0;else if (pulsewidth < 1361) position = 1;else if (pulsewidth < 1491) position = 2;else if (pulsewidth < 1621) position = 3;else if (pulsewidth < 1750) position = 4;else position = 5;if (!debounce_completed(position)) {return;}// set flight mode and simple mode setting//设置飞行模式和简单模式设置mode_switch_changed(position);
}

这里的重点是void RC_Channel_Copter::mode_switch_changed(modeswitch_pos_t new_pos) 函数

ArduCopter\RC_Channel.cpp

void RC_Channel_Copter::mode_switch_changed(modeswitch_pos_t new_pos)
{if (new_pos < 0 || (uint8_t)new_pos > copter.num_flight_modes) {// should not have been calledreturn;}if (!copter.set_mode((Mode::Number)copter.flight_modes[new_pos].get(), ModeReason::RC_COMMAND)) {// alert user to mode change failureif (copter.ap.initialised) {AP_Notify::events.user_mode_change_failed = 1;}return;}// play a tone// alert user to mode change (except if autopilot is just starting up)if (copter.ap.initialised) {AP_Notify::events.user_mode_change = 1;}if (!rc().find_channel_for_option(AUX_FUNC::SIMPLE_MODE) &&!rc().find_channel_for_option(AUX_FUNC::SUPERSIMPLE_MODE)) {// if none of the Aux Switches are set to Simple or Super Simple Mode then// set Simple Mode using stored parameters from EEPROMif (BIT_IS_SET(copter.g.super_simple, new_pos)) {copter.set_simple_mode(2);} else {copter.set_simple_mode(BIT_IS_SET(copter.g.simple_modes, new_pos));}}
}

判断一下是否有模式输入

if (new_pos < 0 || (uint8_t)new_pos > copter.num_flight_modes) {

// should not have been called

// const uint8_t num_flight_modes = 6;

return;

}

更改模式和判断模式是否更改成功

if (!copter.set_mode((Mode::Number)copter.flight_modes[new_pos].get(), ModeReason::RC_COMMAND)) {

// alert user to mode change failure

if (copter.ap.initialised) {

AP_Notify::events.user_mode_change_failed = 1;

}

return;

}

其中set_mode有两个重载函数

第一个传参很好理解就是设置成当前的模式而第二个传参modereason 则是接口相当于你模式的来源,我是这么理解的

// interface to set the vehicles mode
enum class ModeReason : uint8_t {UNKNOWN,RC_COMMAND,GCS_COMMAND,RADIO_FAILSAFE,BATTERY_FAILSAFE,GCS_FAILSAFE,EKF_FAILSAFE,GPS_GLITCH,MISSION_END,THROTTLE_LAND_ESCAPE,FENCE_BREACHED,TERRAIN_FAILSAFE,BRAKE_TIMEOUT,FLIP_COMPLETE,AVOIDANCE,AVOIDANCE_RECOVERY,THROW_COMPLETE,TERMINATE,TOY_MODE,CRASH_FAILSAFE,SOARING_FBW_B_WITH_MOTOR_RUNNING,SOARING_THERMAL_DETECTED,SOARING_THERMAL_ESTIMATE_DETERIORATED,VTOL_FAILED_TRANSITION,VTOL_FAILED_TAKEOFF,FAILSAFE, // general failsafes, prefer specific failsafes over this as much as possibleINITIALISED,SURFACE_COMPLETE,BAD_DEPTH,LEAK_FAILSAFE,SERVOTEST,STARTUP,SCRIPTING,UNAVAILABLE,AUTOROTATION_START,AUTOROTATION_BAILOUT,
};

后续更新

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Apm飞控学习笔记之-RC_Channel遥控器数据获取-Cxm

前言

read_radio();

read_mode_switch()

其中set_mode有两个重载函数

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