Mirrors_Framework/PX4-Autopilot
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introduced vtol_motor_count and idle_pwm_mc parameter

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This commit is contained in:
Roman Bapst
2014-12-04 16:57:06 +01:00
parent 7ea4d10bc9
commit bed53e810b
1 changed files with 18 additions and 10 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+18 -10
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@@ -132,11 +132,13 @@ private:
struct actuator_armed_s _armed; //actuator arming status
struct {
float min_pwm_mc; //pwm value for idle in mc mode
param_t idle_pwm_mc; //pwm value for idle in mc mode
param_t vtol_motor_count;
} _params;
struct {
param_t min_pwm_mc;
param_t idle_pwm_mc;
param_t vtol_motor_count;
} _params_handles;
perf_counter_t _loop_perf; /**< loop performance counter */
@@ -145,6 +147,7 @@ private:
* for fixed wings we want to have an idle speed of zero since we do not want
* to waste energy when gliding. */
bool flag_idle_mc; //false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode"
unsigned _motor_count; // number of motors
//*****************Member functions***********************************************************************
@@ -217,7 +220,11 @@ VtolAttitudeControl::VtolAttitudeControl() :
memset(&_actuators_fw_in, 0, sizeof(_actuators_fw_in));
memset(&_armed, 0, sizeof(_armed));
_params_handles.min_pwm_mc = param_find("PWM_MIN");
_params.idle_pwm_mc = PWM_LOWEST_MIN;
_params.vtol_motor_count = 0;
_params_handles.idle_pwm_mc = param_find("IDLE_PWM_MC");
_params_handles.vtol_motor_count = param_find("VTOL_MOT_COUNT");
/* fetch initial parameter values */
parameters_update();
@@ -369,10 +376,11 @@ VtolAttitudeControl::parameters_update_poll()
int
VtolAttitudeControl::parameters_update()
{
/* idle pwm */
float v;
param_get(_params_handles.min_pwm_mc, &v);
_params.min_pwm_mc = v;
/* idle pwm for mc mode */
param_get(_params_handles.idle_pwm_mc, &_params.idle_pwm_mc);
/* vtol motor count */
param_get(_params_handles.vtol_motor_count, &_params.vtol_motor_count);
return OK;
}
@@ -446,7 +454,7 @@ void VtolAttitudeControl::set_idle_fw()
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
for (unsigned i = 0; i < 4; i++) {
for (unsigned i = 0; i < _params.vtol_motor_count; i++) {
pwm_values.values[i] = pwm_value;
pwm_values.channel_count++;
@@ -472,11 +480,11 @@ void VtolAttitudeControl::set_idle_mc()
if (fd < 0) {err(1, "can't open %s", dev);}
ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
unsigned pwm_value = 1100;
unsigned pwm_value = _params.idle_pwm_mc;
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
for (unsigned i = 0; i < 4; i++) {
for (unsigned i = 0; i < _params.vtol_motor_count; i++) {
pwm_values.values[i] = pwm_value;
pwm_values.channel_count++;
}