#include <rc_update.h>

Inheritance diagram for RCUpdate::RCUpdate:

Collaboration diagram for RCUpdate::RCUpdate:

Public Member Functions
	RCUpdate ()

	~RCUpdate () override

void	Run () override

bool	init ()

int	print_status () override

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

Private Member Functions
void	rc_parameter_map_poll (bool forced=false)
	Check for changes in rc_parameter_map. More...

void	update_rc_functions ()
	update the RC functions. More...

void	parameters_updated ()
	Update our local parameter cache. More...

float	get_rc_value (uint8_t func, float min_value, float max_value)
	Get and limit value for specified RC function. More...

switch_pos_t	get_rc_sw3pos_position (uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv)
	Get switch position for specified function. More...

switch_pos_t	get_rc_sw2pos_position (uint8_t func, float on_th, bool on_inv)

void	set_params_from_rc ()
	Update parameters from RC channels if the functionality is activated and the input has changed since the last update. More...

Private Attributes
perf_counter_t	_loop_perf
	loop performance counter More...

Parameters	_parameters {}
	local copies of interesting parameters More...

ParameterHandles	_parameter_handles {}
	handles for interesting parameters More...

uORB::SubscriptionCallbackWorkItem	_input_rc_sub {this, ORB_ID(input_rc)}

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}
	notification of parameter updates More...

uORB::Subscription	_rc_parameter_map_sub {ORB_ID(rc_parameter_map)}
	rc parameter map subscription More...

uORB::Publication< rc_channels_s >	_rc_pub {ORB_ID(rc_channels)}
	raw r/c control topic More...

uORB::Publication< actuator_controls_s >	_actuator_group_3_pub {ORB_ID(actuator_controls_3)}
	manual control as actuator topic More...

uORB::PublicationMulti< manual_control_setpoint_s >	_manual_control_pub {ORB_ID(manual_control_setpoint), ORB_PRIO_HIGH}
	manual control signal topic More...

rc_channels_s	_rc {}
	r/c channel data More...

rc_parameter_map_s	_rc_parameter_map {}

float	_param_rc_values [rc_parameter_map_s::RC_PARAM_MAP_NCHAN] {}
	parameter values for RC control More...

hrt_abstime	_last_rc_to_param_map_time = 0

math::LowPassFilter2p	_filter_roll
	filters for the main 4 stick inputs More...

math::LowPassFilter2p	_filter_pitch

math::LowPassFilter2p	_filter_yaw
	we want smooth setpoints as inputs to the controllers More...

math::LowPassFilter2p	_filter_throttle

Detailed Description

class RCUpdate

Handling of RC updates

Definition at line 72 of file rc_update.h.

Constructor & Destructor Documentation

◆ RCUpdate()

RCUpdate::RCUpdate::RCUpdate ( )

Definition at line 47 of file rc_update.cpp.

References uart_esc::_parameter_handles, and RCUpdate::initialize_parameter_handles().

Here is the call graph for this function:

◆ ~RCUpdate()

RCUpdate::RCUpdate::~RCUpdate ( )

override

Definition at line 62 of file rc_update.cpp.

References perf_free().

Here is the call graph for this function:

Member Function Documentation

◆ custom_command()

int RCUpdate::RCUpdate::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 524 of file rc_update.cpp.

References print_usage().

Here is the call graph for this function:

◆ get_rc_sw2pos_position()

switch_pos_t RCUpdate::RCUpdate::get_rc_sw2pos_position	(	uint8_t	func,
		float	on_th,
		bool	on_inv
	)

private

Definition at line 208 of file rc_update.cpp.

◆ get_rc_sw3pos_position()

switch_pos_t RCUpdate::RCUpdate::get_rc_sw3pos_position	(	uint8_t	func,
		float	on_th,
		bool	on_inv,
		float	mid_th,
		bool	mid_inv
	)

private

Get switch position for specified function.

Definition at line 187 of file rc_update.cpp.

◆ get_rc_value()

float RCUpdate::RCUpdate::get_rc_value	(	uint8_t	func,
		float	min_value,
		float	max_value
	)

private

Get and limit value for specified RC function.

Returns NAN if not mapped.

Definition at line 175 of file rc_update.cpp.

References math::constrain().

Here is the call graph for this function:

◆ init()

bool RCUpdate::RCUpdate::init ( )

Definition at line 68 of file rc_update.cpp.

◆ parameters_updated()

void RCUpdate::RCUpdate::parameters_updated ( )

private

Update our local parameter cache.

Definition at line 79 of file rc_update.cpp.

References uart_esc::_parameter_handles, uart_esc::_parameters, and RCUpdate::update_parameters().

Here is the call graph for this function:

◆ print_status()

int RCUpdate::RCUpdate::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 515 of file rc_update.cpp.

References perf_print_counter().

Here is the call graph for this function:

◆ print_usage()

int RCUpdate::RCUpdate::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 530 of file rc_update.cpp.

◆ rc_parameter_map_poll()

void RCUpdate::RCUpdate::rc_parameter_map_poll ( bool forced = false )

private

Check for changes in rc_parameter_map.

Definition at line 135 of file rc_update.cpp.

References uart_esc::_parameter_handles, param_find(), and param_for_used_index().

Here is the call graph for this function:

◆ Run()

void RCUpdate::RCUpdate::Run ( )

override

Definition at line 251 of file rc_update.cpp.

References uart_esc::_parameters, df_bebop_bus_wrapper::_rc_pub, input_rc_s::channel_count, math::constrain(), f(), hrt_absolute_time(), hrt_elapsed_time(), manual_control_setpoint_s::mode_slot, perf_begin(), perf_end(), input_rc_s::rc_failsafe, linux_sbus::rc_input, input_rc_s::rc_lost, input_rc_s::rc_lost_frame_count, RCUpdate::RC_MAX_CHAN_COUNT, input_rc_s::rssi, actuator_controls_s::timestamp, input_rc_s::timestamp_last_signal, and input_rc_s::values.

Here is the call graph for this function:

◆ set_params_from_rc()

void RCUpdate::RCUpdate::set_params_from_rc ( )

private

Update parameters from RC channels if the functionality is activated and the input has changed since the last update.

Parameters

Definition at line 226 of file rc_update.cpp.

References uart_esc::_parameter_handles, math::constrain(), FLT_EPSILON, and param_set().

Here is the call graph for this function:

◆ task_spawn()

int RCUpdate::RCUpdate::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 491 of file rc_update.cpp.

References ll40ls::instance.

◆ update_rc_functions()

void RCUpdate::RCUpdate::update_rc_functions ( )

private

update the RC functions.

Call this when the parameters change.

Definition at line 88 of file rc_update.cpp.

References uart_esc::_parameters, and f().

Here is the call graph for this function:

Member Data Documentation

◆ _actuator_group_3_pub

uORB::Publication<actuator_controls_s> RCUpdate::RCUpdate::_actuator_group_3_pub {ORB_ID(actuator_controls_3)}

private

manual control as actuator topic

Definition at line 140 of file rc_update.h.

◆ _filter_pitch

math::LowPassFilter2p RCUpdate::RCUpdate::_filter_pitch

private

Definition at line 152 of file rc_update.h.

◆ _filter_roll

math::LowPassFilter2p RCUpdate::RCUpdate::_filter_roll

private

filters for the main 4 stick inputs

Definition at line 151 of file rc_update.h.

◆ _filter_throttle

math::LowPassFilter2p RCUpdate::RCUpdate::_filter_throttle

private

Definition at line 154 of file rc_update.h.

◆ _filter_yaw

math::LowPassFilter2p RCUpdate::RCUpdate::_filter_yaw

private

we want smooth setpoints as inputs to the controllers

Definition at line 153 of file rc_update.h.

◆ _input_rc_sub

uORB::SubscriptionCallbackWorkItem RCUpdate::RCUpdate::_input_rc_sub {this, ORB_ID(input_rc)}

private

Definition at line 134 of file rc_update.h.

◆ _last_rc_to_param_map_time

hrt_abstime RCUpdate::RCUpdate::_last_rc_to_param_map_time = 0

private

Definition at line 149 of file rc_update.h.

◆ _loop_perf

perf_counter_t RCUpdate::RCUpdate::_loop_perf

private

loop performance counter

Definition at line 129 of file rc_update.h.

◆ _manual_control_pub

uORB::PublicationMulti<manual_control_setpoint_s> RCUpdate::RCUpdate::_manual_control_pub {ORB_ID(manual_control_setpoint), ORB_PRIO_HIGH}

private

manual control signal topic

Definition at line 142 of file rc_update.h.

◆ _param_rc_values

float RCUpdate::RCUpdate::_param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN] {}

private

parameter values for RC control

Definition at line 147 of file rc_update.h.

◆ _parameter_handles

ParameterHandles RCUpdate::RCUpdate::_parameter_handles {}

private

handles for interesting parameters

Definition at line 132 of file rc_update.h.

◆ _parameter_update_sub

uORB::Subscription RCUpdate::RCUpdate::_parameter_update_sub {ORB_ID(parameter_update)}

private

notification of parameter updates

Definition at line 136 of file rc_update.h.

◆ _parameters

Parameters RCUpdate::RCUpdate::_parameters {}

private

local copies of interesting parameters

Definition at line 131 of file rc_update.h.

◆ _rc

rc_channels_s RCUpdate::RCUpdate::_rc {}

private

r/c channel data

Definition at line 144 of file rc_update.h.

◆ _rc_parameter_map

rc_parameter_map_s RCUpdate::RCUpdate::_rc_parameter_map {}

private

Definition at line 146 of file rc_update.h.

◆ _rc_parameter_map_sub

uORB::Subscription RCUpdate::RCUpdate::_rc_parameter_map_sub {ORB_ID(rc_parameter_map)}

private

rc parameter map subscription

Definition at line 137 of file rc_update.h.

◆ _rc_pub

uORB::Publication<rc_channels_s> RCUpdate::RCUpdate::_rc_pub {ORB_ID(rc_channels)}

private

raw r/c control topic

Definition at line 139 of file rc_update.h.

The documentation for this class was generated from the following files:

src/modules/rc_update/rc_update.h
src/modules/rc_update/rc_update.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RCUpdate()

◆ ~RCUpdate()

Member Function Documentation

◆ custom_command()

◆ get_rc_sw2pos_position()

◆ get_rc_sw3pos_position()

◆ get_rc_value()

◆ init()

◆ parameters_updated()

◆ print_status()

◆ print_usage()

◆ rc_parameter_map_poll()

◆ Run()

◆ set_params_from_rc()

◆ task_spawn()

◆ update_rc_functions()

Member Data Documentation

◆ _actuator_group_3_pub

◆ _filter_pitch

◆ _filter_roll

◆ _filter_throttle

◆ _filter_yaw

◆ _input_rc_sub

◆ _last_rc_to_param_map_time

◆ _loop_perf

◆ _manual_control_pub

◆ _param_rc_values

◆ _parameter_handles

◆ _parameter_update_sub

◆ _parameters

◆ _rc

◆ _rc_parameter_map

◆ _rc_parameter_map_sub

◆ _rc_pub