Mirrors_Framework/PX4-Autopilot
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add THR_MDL_FAC parameter handling to FMU

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This commit is contained in:
Mark Whitehorn
2016-12-15 07:36:56 -07:00
committed by Lorenz Meier
parent d221313dfb
commit 381a565ce3
1 changed files with 13 additions and 0 deletions
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src/drivers/px4fmu/fmu.cpp
+13
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@@ -233,6 +233,7 @@ private:
orb_advert_t _to_mixer_status; ///< mixer status flags orb_advert_t _to_mixer_status; ///< mixer status flags
float _mot_t_max; // maximum rise time for motor (slew rate limiting) float _mot_t_max; // maximum rise time for motor (slew rate limiting)
float _thr_mdl_fac; // thrust to pwm modelling factor
perf_counter_t _ctl_latency; perf_counter_t _ctl_latency;
@@ -346,6 +347,7 @@ PX4FMU::PX4FMU() :
_to_safety(nullptr), _to_safety(nullptr),
_to_mixer_status(nullptr), _to_mixer_status(nullptr),
_mot_t_max(0.0f), _mot_t_max(0.0f),
_thr_mdl_fac(0.0f),
_ctl_latency(perf_alloc(PC_ELAPSED, "ctl_lat")) _ctl_latency(perf_alloc(PC_ELAPSED, "ctl_lat"))
{ {
for (unsigned i = 0; i < _max_actuators; i++) { for (unsigned i = 0; i < _max_actuators; i++) {
@@ -1159,6 +1161,10 @@ PX4FMU::cycle()
_mixers->set_max_delta_out_once(delta_out_max); _mixers->set_max_delta_out_once(delta_out_max);
} }
if (_thr_mdl_fac > FLT_EPSILON) {
_mixers->set_thrust_factor(_thr_mdl_fac);
}
/* do mixing */ /* do mixing */
float outputs[_max_actuators]; float outputs[_max_actuators];
num_outputs = _mixers->mix(outputs, num_outputs, NULL); num_outputs = _mixers->mix(outputs, num_outputs, NULL);
@@ -1322,6 +1328,13 @@ PX4FMU::cycle()
if (param_handle != PARAM_INVALID) { if (param_handle != PARAM_INVALID) {
param_get(param_handle, &_mot_t_max); param_get(param_handle, &_mot_t_max);
} }
// thrust to pwm modelling factor
param_handle = param_find("THR_MDL_FAC");
if (param_handle != PARAM_INVALID) {
param_get(param_handle, &_thr_mdl_fac);
}
} }
/* update ADC sampling */ /* update ADC sampling */