rc_calibration.cpp

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/**
 * @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/sensor_combined.h>
#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 sub_man{ORB_ID(manual_control_setpoint)};
    px4_usleep(400000);
    manual_control_setpoint_s sp{};
    bool changed = sub_man.updated();

    if (!changed) {
        mavlink_log_critical(mavlink_log_pub, "no inputs, aborting");
        return PX4_ERROR;
    }

    sub_man.copy(&sp);

    /* 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 = sp.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 = -sp.x * pitch_scale + pitch_trim_active;
    int p2r = param_set(param_find("TRIM_PITCH"), &p);
    p = sp.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;
}