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UAVCAN driver: support throttle linearization (THR_MLD_FAC parameter)

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2019-07-09 21:10:54 +02:00
committed by Daniel Agar
parent 2aa05e3914
commit b54a43fccc
4 changed files with 15 additions and 6 deletions
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src/drivers/px4fmu/fmu.cpp
+1 -4
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@@ -1178,9 +1178,8 @@ 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); _mixers->set_thrust_factor(_thr_mdl_fac);
} _mixers->set_airmode(_airmode);
/* do mixing */ /* do mixing */
float outputs[_max_actuators]; float outputs[_max_actuators];
@@ -1246,8 +1245,6 @@ PX4FMU::cycle()
orb_publish_auto(ORB_ID(multirotor_motor_limits), &_to_mixer_status, &motor_limits, &_class_instance, ORB_PRIO_DEFAULT); orb_publish_auto(ORB_ID(multirotor_motor_limits), &_to_mixer_status, &motor_limits, &_class_instance, ORB_PRIO_DEFAULT);
} }
_mixers->set_airmode(_airmode);
// use first valid timestamp_sample for latency tracking // use first valid timestamp_sample for latency tracking
for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
const bool required = _groups_required & (1 << i); const bool required = _groups_required & (1 << i);
src/drivers/uavcan/uavcan_main.cpp
+7
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@@ -425,6 +425,12 @@ void UavcanNode::update_params()
if (param_handle != PARAM_INVALID) { if (param_handle != PARAM_INVALID) {
param_get(param_handle, &_airmode); param_get(param_handle, &_airmode);
} }
param_handle = param_find("THR_MDL_FAC");
if (param_handle != PARAM_INVALID) {
param_get(param_handle, &_thr_mdl_factor);
}
} }
int UavcanNode::start_fw_server() int UavcanNode::start_fw_server()
@@ -905,6 +911,7 @@ int UavcanNode::run()
// but this driver could well serve multiple groups. // but this driver could well serve multiple groups.
unsigned num_outputs_max = 8; unsigned num_outputs_max = 8;
_mixers->set_thrust_factor(_thr_mdl_factor);
_mixers->set_airmode(_airmode); _mixers->set_airmode(_airmode);
// Do mixing // Do mixing
src/drivers/uavcan/uavcan_main.hpp
+1
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@@ -211,6 +211,7 @@ private:
perf_counter_t _perf_control_latency; perf_counter_t _perf_control_latency;
Mixer::Airmode _airmode = Mixer::Airmode::disabled; Mixer::Airmode _airmode = Mixer::Airmode::disabled;
float _thr_mdl_factor = 0.0f;
// index into _poll_fds for each _control_subs handle // index into _poll_fds for each _control_subs handle
uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN]; uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
src/lib/mixer/mixer.h
+5 -1
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@@ -128,6 +128,7 @@
#pragma once #pragma once
#include <stdint.h> #include <stdint.h>
#include <lib/mathlib/mathlib.h>
/** simple channel scaler */ /** simple channel scaler */
struct mixer_scaler_s { struct mixer_scaler_s {
@@ -707,7 +708,10 @@ public:
* *
* @param[in] val The value * @param[in] val The value
*/ */
void set_thrust_factor(float val) override { _thrust_factor = val; } void set_thrust_factor(float val) override
{
_thrust_factor = math::constrain(val, 0.0f, 1.0f);
}
void set_airmode(Airmode airmode) override; void set_airmode(Airmode airmode) override;