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gimbal: remove offset as it should be accounted for in PWM driver

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Pernilla
2025-11-30 15:28:38 +01:00
committed by Silvan Fuhrer
parent 9de10d672c
commit 0da6efa52d
5 changed files with 18 additions and 61 deletions
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src/modules/gimbal/gimbal.cpp
-9
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@@ -549,9 +549,6 @@ void update_params(ParameterHandles &param_handles, Parameters &params)
param_get(param_handles.mnt_min_pitch, &params.mnt_min_pitch);
param_get(param_handles.mnt_range_roll, &params.mnt_range_roll);
param_get(param_handles.mnt_range_yaw, &params.mnt_range_yaw);
param_get(param_handles.mnt_off_pitch, &params.mnt_off_pitch);
param_get(param_handles.mnt_off_roll, &params.mnt_off_roll);
param_get(param_handles.mnt_off_yaw, &params.mnt_off_yaw);
param_get(param_handles.mav_sysid, &params.mav_sysid);
param_get(param_handles.mav_compid, &params.mav_compid);
param_get(param_handles.mnt_rate_pitch, &params.mnt_rate_pitch);
@@ -575,9 +572,6 @@ bool initialize_params(ParameterHandles &param_handles, Parameters &params)
param_handles.mnt_min_pitch = param_find("MNT_MIN_PITCH");
param_handles.mnt_range_roll = param_find("MNT_RANGE_ROLL");
param_handles.mnt_range_yaw = param_find("MNT_RANGE_YAW");
param_handles.mnt_off_pitch = param_find("MNT_OFF_PITCH");
param_handles.mnt_off_roll = param_find("MNT_OFF_ROLL");
param_handles.mnt_off_yaw = param_find("MNT_OFF_YAW");
param_handles.mav_sysid = param_find("MAV_SYS_ID");
param_handles.mav_compid = param_find("MAV_COMP_ID");
param_handles.mnt_rate_pitch = param_find("MNT_RATE_PITCH");
@@ -598,9 +592,6 @@ bool initialize_params(ParameterHandles &param_handles, Parameters &params)
param_handles.mnt_min_pitch == PARAM_INVALID ||
param_handles.mnt_range_roll == PARAM_INVALID ||
param_handles.mnt_range_yaw == PARAM_INVALID ||
param_handles.mnt_off_pitch == PARAM_INVALID ||
param_handles.mnt_off_roll == PARAM_INVALID ||
param_handles.mnt_off_yaw == PARAM_INVALID ||
param_handles.mav_sysid == PARAM_INVALID ||
param_handles.mav_compid == PARAM_INVALID ||
param_handles.mnt_rate_pitch == PARAM_INVALID ||
src/modules/gimbal/gimbal_params.c
+12 -36
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@@ -152,7 +152,9 @@ PARAM_DEFINE_INT32(MNT_MAN_YAW, 0);
PARAM_DEFINE_INT32(MNT_DO_STAB, 0);
/**
* Max angle of pitch channel output in degrees (only in AUX output mode).
* Max positive angle of pitch setpoint (only in MNT_MODE_OUT=AUX).
*
* Use output driver settings to calibrate (e.g. PWM_CENT/_MIN/_MAX).
*
* @unit deg
* @decimal 1
@@ -161,7 +163,9 @@ PARAM_DEFINE_INT32(MNT_DO_STAB, 0);
PARAM_DEFINE_FLOAT(MNT_MAX_PITCH, 45.0f);
/**
* Min angle of pitch channel output in degrees (only in AUX output mode).
* Min negative angle of pitch setpoint (only in MNT_MODE_OUT=AUX).
*
* Use output driver settings to calibrate (e.g. PWM_CENT/_MIN/_MAX).
*
* @unit deg
* @decimal 1
@@ -170,7 +174,9 @@ PARAM_DEFINE_FLOAT(MNT_MAX_PITCH, 45.0f);
PARAM_DEFINE_FLOAT(MNT_MIN_PITCH, -45.0f);
/**
* Range of roll channel output in degrees (only in AUX output mode).
* Range of roll channel output (only in MNT_MODE_OUT=AUX).
*
* Use output driver settings to calibrate (e.g. PWM_CENT/_MIN/_MAX). Note that only symmetric angular ranges are supported.
*
* @min 1.0
* @max 720.0
@@ -181,7 +187,9 @@ PARAM_DEFINE_FLOAT(MNT_MIN_PITCH, -45.0f);
PARAM_DEFINE_FLOAT(MNT_RANGE_ROLL, 90.0f);
/**
* Range of yaw channel output in degrees (only in AUX output mode).
* Range of yaw channel output (only in MNT_MODE_OUT=AUX).
*
* Use output driver settings to calibrate (e.g. PWM_CENT/_MIN/_MAX). Note that only symmetric angular ranges are supported.
*
* @min 1.0
* @max 720.0
@@ -191,38 +199,6 @@ PARAM_DEFINE_FLOAT(MNT_RANGE_ROLL, 90.0f);
*/
PARAM_DEFINE_FLOAT(MNT_RANGE_YAW, 360.0f);
/**
* Offset for pitch channel output in degrees.
*
* @min -360.0
* @max 360.0
* @unit deg
* @decimal 1
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_OFF_PITCH, 0.0f);
/**
* Offset for roll channel output in degrees.
*
* @min -360.0
* @max 360.0
* @unit deg
* @decimal 1
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_OFF_ROLL, 0.0f);
/**
* Offset for yaw channel output in degrees.
*
* @min -360.0
* @max 360.0
* @unit deg
* @decimal 1
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_OFF_YAW, 0.0f);
/**
* Angular pitch rate for manual input in degrees/second.
src/modules/gimbal/gimbal_params.h
-6
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@@ -68,9 +68,6 @@ struct Parameters {
float mnt_min_pitch;
float mnt_range_roll;
float mnt_range_yaw;
float mnt_off_pitch;
float mnt_off_roll;
float mnt_off_yaw;
int32_t mav_sysid;
int32_t mav_compid;
float mnt_rate_pitch;
@@ -93,9 +90,6 @@ struct ParameterHandles {
param_t mnt_min_pitch;
param_t mnt_range_roll;
param_t mnt_range_yaw;
param_t mnt_off_pitch;
param_t mnt_off_roll;
param_t mnt_off_yaw;
param_t mav_sysid;
param_t mav_compid;
param_t mnt_rate_pitch;
src/modules/gimbal/output_mavlink.cpp
+3 -3
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@@ -100,9 +100,9 @@ void OutputMavlinkV1::update(const ControlData &control_data, bool new_setpoints
// gimbal spec has roll, pitch on channels 0, 1, respectively; MAVLink spec has roll, pitch on channels 1, 0, respectively
// gimbal uses radians, MAVLink uses degrees
vehicle_command.param1 = math::degrees(_angle_outputs[1] + math::radians(_parameters.mnt_off_pitch));
vehicle_command.param2 = math::degrees(_angle_outputs[0] + math::radians(_parameters.mnt_off_roll));
vehicle_command.param3 = math::degrees(_angle_outputs[2] + math::radians(_parameters.mnt_off_yaw));
vehicle_command.param1 = math::degrees(_angle_outputs[1]);
vehicle_command.param2 = math::degrees(_angle_outputs[0]);
vehicle_command.param3 = math::degrees(_angle_outputs[2]);
vehicle_command.param7 = 2.0f; // MAV_MOUNT_MODE_MAVLINK_TARGETING;
_gimbal_v1_command_pub.publish(vehicle_command);
src/modules/gimbal/output_rc.cpp
+3 -7
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@@ -82,11 +82,9 @@ float OutputRC::anglesMappedToOutput(const uint8_t index)
float value = 0.f;
float min_value = 0.f;
float max_value = 0.f;
float offset = 0.f;
switch (index) {
case gimbal_controls_s::INDEX_ROLL: {
offset = math::radians(_parameters.mnt_off_roll);
value = _angle_outputs[0];
max_value = math::radians(_parameters.mnt_range_roll) * 0.5f;
min_value = -math::radians(_parameters.mnt_range_roll) * 0.5f;
@@ -95,7 +93,6 @@ float OutputRC::anglesMappedToOutput(const uint8_t index)
case gimbal_controls_s::INDEX_PITCH: {
value = _angle_outputs[1];
offset = math::radians(_parameters.mnt_off_pitch);
max_value = math::radians(_parameters.mnt_max_pitch);
min_value = math::radians(_parameters.mnt_min_pitch);
break;
@@ -103,7 +100,6 @@ float OutputRC::anglesMappedToOutput(const uint8_t index)
case gimbal_controls_s::INDEX_YAW: {
value = _angle_outputs[2];
offset = math::radians(_parameters.mnt_off_yaw);
max_value = math::radians(_parameters.mnt_range_yaw) * 0.5f;
min_value = -math::radians(_parameters.mnt_range_yaw) * 0.5f;
break;
@@ -115,11 +111,11 @@ float OutputRC::anglesMappedToOutput(const uint8_t index)
}
}
if (value + offset >= FLT_EPSILON) {
return math::interpolate(value + offset, 0.f, max_value + offset, 0.f, 1.f);
if (value >= FLT_EPSILON) {
return math::interpolate(value, 0.f, max_value, 0.f, 1.f);
} else {
return math::interpolate(value + offset, min_value + offset, 0.f, -1.f, 0.f);
return math::interpolate(value, min_value, 0.f, -1.f, 0.f);
}
}