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Corrections on DO_SET_SERVO mission item #4965

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Corrections on DO_SET_SERVO mission item #4965

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54ffbdd
Mixers are corrected to use actuators control group 2 for AUX outputs
Jul 2, 2016
72f4329
Remove double check of misison item
Jul 11, 2016
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4 changes: 2 additions & 2 deletions ROMFS/px4fmu_common/init.d/rc.interface
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ then

if mixer load $OUTPUT_DEV $MIXER_FILE
then
echo "INFO [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
echo "INFO [init] Mixer: $MIXER_FILE on $OUTPUT_DEV" >> $LOG_FILE
else
echo "ERROR [init] Error loading mixer: $MIXER_FILE"
echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
Expand Down Expand Up @@ -137,7 +137,7 @@ then
then
if mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
then
echo "INFO [init] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV"
echo "INFO [init] Mixer: $MIXER_AUX_FILE on $OUTPUT_AUX_DEV" >> $LOG_FILE
else
echo "ERROR [init] Error loading mixer: $MIXER_AUX_FILE"
echo "ERROR [init] Could not load mixer: $MIXER_AUX_FILE" >> $LOG_FILE
Expand Down
23 changes: 19 additions & 4 deletions ROMFS/px4fmu_common/mixers/pass.aux.mix
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@@ -1,21 +1,36 @@
# Manual pass through mixer for servo outputs 1-4

# AUX1 channel (select RC channel with RC_MAP_AUX1 param)
M: 1
M: 2
O: 10000 10000 0 -10000 10000
S: 2 1 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000

# AUX2 channel (select RC channel with RC_MAP_AUX2 param)
M: 1
M: 2
O: 10000 10000 0 -10000 10000
S: 2 2 10000 10000 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000

# AUX3 channel (select RC channel with RC_MAP_AUX3 param)
M: 1
M: 2
O: 10000 10000 0 -10000 10000
S: 2 3 10000 10000 0 -10000 10000
S: 3 7 10000 10000 0 -10000 10000

# FLAPS channel (select RC channel with RC_MAP_FLAPS param)
M: 1
M: 2
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Could this be removed without ruining your use case? Or should we create a different mixer file for non-manual payload control?

O: 10000 10000 0 -10000 10000
S: 2 4 10000 10000 0 -10000 10000
S: 3 4 10000 10000 0 -10000 10000

# AUX5 channel (select servo id 5 in mission item)
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I need to check if this can conflict with camera triggering.

M: 1
O: 10000 10000 0 -10000 10000
S: 2 5 10000 10000 0 -10000 10000

# AUX6 channel (select servo id 6 in mission item)
M: 1
O: 10000 10000 0 -10000 10000
S: 2 6 10000 10000 0 -10000 10000

36 changes: 15 additions & 21 deletions src/modules/navigator/mission_feasibility_checker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,6 @@ bool MissionFeasibilityChecker::checkMissionFeasible(orb_advert_t *mavlink_log_p
} else {
failed = failed || !checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt, home_valid);
}

return !failed;
}

Expand Down Expand Up @@ -255,6 +254,19 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
mavlink_log_critical(_mavlink_log_pub, "Rejecting mission item %i: unsupported cmd: %d", (int)(i+1), (int)missionitem.nav_cmd);
return false;
}
/* Check non navigation item */
if (missionitem.nav_cmd == NAV_CMD_DO_SET_SERVO){
/* check actuator number */
if (missionitem.params[0] < 1 || missionitem.params[0] > 6) {
mavlink_log_critical(_mavlink_log_pub, "Actuator number %d is out of bounds 1..6", (int)missionitem.params[0]);
return false;
}
/* check actuator value */
if (missionitem.params[1] < -2000 || missionitem.params[1] > 2000) {
mavlink_log_critical(_mavlink_log_pub, "Actuator value %d is out of bounds -2000..2000", (int)missionitem.params[1]);
return false;
}
}

// check if the mission starts with a land command while the vehicle is landed
if (missionitem.nav_cmd == NAV_CMD_LAND &&
Expand Down Expand Up @@ -349,26 +361,8 @@ MissionFeasibilityChecker::check_dist_1wp(dm_item_t dm_current, size_t nMissionI
for (unsigned i = 0; i < nMissionItems; i++) {
if (dm_read(dm_current, i,
&mission_item, sizeof(mission_item_s)) == sizeof(mission_item_s)) {
/* Check non navigation item */
if (mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO){

/* check actuator number */
if (mission_item.params[0] < 0 || mission_item.params[0] > 5) {
mavlink_log_critical(_mavlink_log_pub, "Actuator number %d is out of bounds 0..5", (int)mission_item.params[0]);
warning_issued = true;
return false;
}
/* check actuator value */
if (mission_item.params[1] < -2000 || mission_item.params[1] > 2000) {
mavlink_log_critical(_mavlink_log_pub, "Actuator value %d is out of bounds -2000..2000", (int)mission_item.params[1]);
warning_issued = true;
return false;
}
}
/* check only items with valid lat/lon */
else if (isPositionCommand(mission_item.nav_cmd)) {

/* check distance from current position to item */
if (isPositionCommand(mission_item.nav_cmd)) {
/* check distance from current position to item */
float dist_to_1wp = get_distance_to_next_waypoint(
mission_item.lat, mission_item.lon, curr_lat, curr_lon);

Expand Down