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This commit is contained in:
Antoine Drouin
2008-09-02 14:24:31 +00:00
parent beba4ea7b5
commit 04d74124be
13 changed files with 124 additions and 56 deletions
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conf/airframes/booz2.xml
+15 -2
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@@ -166,14 +166,27 @@
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
<define name="HOVER_POWER" value="60"/>
<define name="HOVER_KP" value="-200"/>
<define name="HOVER_KD" value="-100"/>
<define name="HOVER_KI" value="0"/>
<define name="HOVER_KI" value="-50"/>
</section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<makefile>
conf/airframes/motor_bench.xml
+5 -1
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@@ -16,7 +16,8 @@ main.TARGETDIR = mb
main.CFLAGS += -DCONFIG=\"conf_motor_bench.h\" -I$(MB)
main.srcs = $(MB)/main_motor_bench.c
main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./250.)'
main.CFLAGS += -DPERIODIC_TASK_FREQ='250.'
main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./PERIODIC_TASK_FREQ)'
main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
main.CFLAGS += -DLED
@@ -37,6 +38,7 @@ main.CFLAGS += -DUSE_TWI_CONTROLLER
main.CFLAGS += -DI2C_SCLL=100 -DI2C_SCLH=100
#main.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c $(MB)/mb_twi_controller.c
main.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c $(MB)/mb_twi_controller_asctech.c
#main.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c $(MB)/mb_twi_controller_mkk.c
main.CFLAGS += -DMB_TACHO
main.srcs += $(MB)/mb_tacho.c
@@ -49,6 +51,8 @@ main.CFLAGS += -DMB_SCALE
main.srcs += $(MB)/mb_scale.c
main.srcs += $(MB)/mb_modes.c
main.srcs += $(MB)/mb_static.c
main.srcs += $(MB)/mb_mode_fixed_rpm.c
conf/airframes/pt_ant.xml
+10 -9
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@@ -19,16 +19,17 @@ tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
ARCHI=arm7
FLASH_MODE = IAP
PT_ANT = antenna
main.ARCHDIR = $(ARCHI)
main.ARCH = arm7tdmi
main.TARGET = main
main.TARGETDIR = main
main.CFLAGS += -DCONFIG=\"conf_demo.h\"
main.srcs = main_pan_tilt_antenna.c
main.CFLAGS += -DCONFIG=\"conf_demo.h\" -I$(PT_ANT)
main.srcs = $(PT_ANT)/pt_ant_main.c
main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)'
main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1.66666667e-2)'
main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
main.CFLAGS += -DLED
@@ -39,17 +40,17 @@ main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
main.srcs += $(SRC_ARCH)/uart_hw.c
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
main.srcs += downlink.c pprz_transport.c
main.srcs += downlink.c pprz_transport.c $(PT_ANT)/pt_ant_telemetry.c
main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
main.srcs += pt_ant_datalink.c
main.srcs += $(PT_ANT)/pt_ant_datalink.c
main.srcs += pt_ant_motors.c
main.srcs += $(PT_ANT)/pt_ant_motors.c
main.CFLAGS += -I2C_BUF_LEN=32
main.srcs += pt_ant_sensors.c AMI601.c i2c.c $(SRC_ARCH)/i2c_hw.c
main.CFLAGS += -DUSE_AMI601 -DI2C_BUF_LEN=32
main.srcs += AMI601.c i2c.c $(SRC_ARCH)/i2c_hw.c
main.srcs += pt_ant_estimator.c
#main.srcs += pt_ant_estimator.c
main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
#main.CFLAGS += -DGPS -DUBX -DGPS_LINK=Uart1
conf/autopilot/conf_booz2.makefile
+1 -1
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@@ -83,7 +83,7 @@ ap.ARCH = arm7tdmi
ap.TARGET = ap
ap.TARGETDIR = ap
#ap.CFLAGS += -DKILL_MOTORS
ap.CFLAGS += -DKILL_MOTORS
ap.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
ap.srcs += $(BOOZ_PRIV)/booz2_main.c
conf/messages.xml
+1
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@@ -1078,6 +1078,7 @@
<field name="cmd_y" type="int32"/>
<field name="cmd_phi" type="int32"/>
<field name="cmd_theta" type="int32"/>
<field name="cmd_psi" type="int32"/>
</message>
conf/settings/motor_bench_settings.xml
+11 -1
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@@ -3,8 +3,9 @@
<settings>
<dl_settings>
<dl_settings name="trim">
<dl_setting var="mb_modes_mode" min="0" step="1" max="4" module="mb_modes" handler="SetMode"/>
<dl_setting var="mb_modes_mode" min="0" step="1" max="6" module="mb_modes" handler="SetMode"/>
</dl_settings>
<dl_settings name="twi_asctech">
<dl_setting var="mb_twi_controller_asctech_command_type" min="0" step="1" max="3"
module="mb_twi_controller_asctech" handler="SetCommand"/>
@@ -12,5 +13,14 @@
module="mb_twi_controller_asctech" handler="SetAddr"/>
</dl_settings>
<dl_settings name="scale">
<dl_setting var="mb_scale_neutral" min="2940000" step="100" max="2950000" module="mb_scale"/>
<dl_setting var="mb_scale_gain" min="2.0e-3" step="1e-4" max="2.5e-3" module="mb_scale"/>
<dl_setting var="mb_scale_calib" min="0" step="1" max="1" module="mb_scale" handler="Calib"/>
</dl_settings>
</dl_settings>
</settings>
conf/settings/pt_ant_settings.xml
+2 -2
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@@ -5,7 +5,7 @@
<settings>
<dl_settings>
<!-- <dl_setting var="pt_ant_mode" min="0" step="1" max="3" handler="SetMode"/> -->
<dl_setting var="pt_ant_motors_y_power" min="-1" step="0.1" max="1" module="pt_ant_motors" handler="SetYPower"/>
<dl_setting var="pt_ant_motors_z_power" min="-1" step="0.1" max="1" module="pt_ant_motors" handler="SetZPower"/>
<dl_setting shortname="power y" var="pt_ant_motors_y_power" min="-1" step="0.1" max="1" module="pt_ant_motors" handler="SetYPower"/>
<dl_setting shortname="power z" var="pt_ant_motors_z_power" min="-1" step="0.1" max="1" module="pt_ant_motors" handler="SetZPower"/>
</dl_settings>
</settings>
conf/settings/settings_booz2.xml
+6 -5
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@@ -3,8 +3,8 @@
<settings>
<dl_settings>
<dl_settings NAME="Analog Baro">
<dl_setting var="booz2_analog_baro_offset" min="1" step="1" max="1022" module="booz2_analog_baro" handler="SetOffset" shortname="offset"/>
<dl_settings NAME="Misc">
<dl_setting var="telemetry_mode_Main" min="0" step="1" max="7" module="booz2_telemetry" shortname="telemetry mode"/>
</dl_settings>
<dl_settings NAME="Rate Loop">
@@ -30,7 +30,8 @@
<dl_setting var="booz2_guidance_v_kp" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="kp"/>
<dl_setting var="booz2_guidance_v_kd" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="kd"/>
<dl_setting var="booz2_guidance_v_ki" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="ki"/>
</dl_settings>
<dl_setting var="booz2_guidance_v_z_sp" min="50" step="1" max="950" module="booz2_guidance_v" shortname="sp"/>
</dl_settings>
<dl_settings NAME="Filter">
@@ -38,8 +39,8 @@
</dl_settings>
<dl_settings NAME="Misc">
<dl_setting var="telemetry_mode_Main" min="0" step="1" max="6" module="booz2_telemetry" shortname="telemetry mode"/>
<dl_settings NAME="Analog Baro">
<dl_setting var="booz2_analog_baro_offset" min="1" step="1" max="1022" module="booz2_analog_baro" handler="SetOffset" shortname="offset"/>
</dl_settings>
conf/telemetry/booz.xml
+10 -10
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@@ -7,14 +7,14 @@
<mode name="default">
<message name="ALIVE" period="5."/>
<message name="BOOZ_STATUS" period=".5"/>
<message name="RC" period="0.5"/>
<!-- <message name="RC" period="0.5"/> -->
<!-- <message name="BOOZ_FD" period="0.05"/> -->
<!-- <message name="BOOZ_DEBUG" period="0.25"/> -->
<message name="ACTUATORS" period="0.5"/>
<message name="BOOZ_HOV_LOOP" period="0.05"/>
<message name="BOOZ_VERT_LOOP" period="0.05"/>
<message name="BOOZ_CONTROL" period="0.025"/>
<message name="BOOZ_CMDS" period="0.025"/>
<!-- <message name="BOOZ_HOV_LOOP" period="0.05"/> -->
<!-- <message name="BOOZ_VERT_LOOP" period="0.05"/> -->
<!-- <message name="BOOZ_CONTROL" period="0.025"/> -->
<!-- <message name="BOOZ_CMDS" period="0.025"/> -->
<!-- <message name="BOOZ_UF_RATES" period="0.05"/> -->
<message name="DL_VALUE" period="1."/>
</mode>
@@ -29,13 +29,13 @@
<mode name="default">
<!-- <message name="IMU_GYRO_LP" period=".017"/> -->
<message name="AHRS_STATE" period=".1"/>
<message name="AHRS_COV" period=".2"/>
<message name="AHRS_MEASURE" period=".1"/>
<message name="AHRS_STATE" period=".5"/>
<message name="AHRS_COV" period=".5"/>
<message name="AHRS_MEASURE" period=".5"/>
<!-- <message name="IMU_ACCEL_RAW" period=".02"/> -->
<message name="IMU_ACCEL" period=".1"/>
<message name="IMU_ACCEL" period=".5"/>
<!-- <message name="IMU_GYRO_RAW" period=".05"/> -->
<message name="IMU_GYRO" period=".1"/>
<message name="IMU_GYRO" period=".5"/>
<!-- <message name="IMU_MAG_RAW" period=".05"/>
<message name="IMU_MAG" period=".5"/>
<message name="IMU_PRESSURE" period=".5"/>
conf/telemetry/telemetry_booz2.xml
+5 -21
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@@ -4,29 +4,11 @@
<process name="Main">
<mode name="default">
<message name="DL_VALUE" period="1.1"/>
<message name="BOOZ_STATUS" period="1.2"/>
<!-- <message name="BOOZ2_RATE_LOOP" period=".05"/> -->
<!-- <message name="BOOZ2_STAB_ATTITUDE" period=".05"/> -->
<!-- <message name="BOOZ2_CMD" period=".05"/> -->
<!-- <message name="BOOZ2_STAB_ATTITUDE_REF" period=".05"/> -->
<!-- <message name="BOOZ2_ALIGNER" period=".1"/> -->
<!-- <message name="BOOZ2_FILTER" period=".1"/> -->
<!-- <message name="BOOZ2_FILTER_Q" period=".1"/> -->
<!-- <message name="BOOZ2_GUIDANCE" period=".25"/> -->
<message name="BOOZ2_GYRO" period=".075"/>
<message name="BOOZ2_ACCEL" period=".075"/>
<message name="BOOZ2_MAG" period=".1"/>
<!-- <message name="IMU_ACCEL_RAW" period=".05"/> -->
<!-- <message name="IMU_GYRO_RAW" period=".1"/> -->
<!-- <message name="IMU_MAG_RAW" period=".05"/> -->
<!-- <message name="BOOZ2_FILTER_COR" period=".05"/> -->
<!-- <message name="BOOZ2_ATT_LOOP" period=".05"/> -->
<message name="BOOZ2_FP" period="0.25"/>
<message name="ALIVE" period="2.1"/>
</mode>
@@ -63,7 +45,6 @@
<message name="BOOZ2_RATE_LOOP" period=".02"/>
</mode>
<mode name="attitude_loop">
<message name="BOOZ_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
@@ -79,6 +60,9 @@
<message name="BOOZ2_VERT_LOOP" period=".02"/>
</mode>
<mode name="h_loop">
<message name="BOOZ2_HOVER_LOOP" period="0.25"/>
</mode>
</process>
sw/airborne/motor_bench/main_motor_bench.c
+2 -2
View File
@@ -7,8 +7,8 @@
#include "mb_tacho.h"
#include "mb_servo.h"
#include "i2c.h"
//#include "mb_twi_controller_asctech.h"
#include "mb_twi_controller_mkk.h"
#include "mb_twi_controller_asctech.h"
//#include "mb_twi_controller_mkk.h"
#include "mb_current.h"
#include "mb_scale.h"
sw/in_progress/motor_bench/main.c
+52
View File
@@ -7,6 +7,8 @@
#include <Ivy/ivy.h>
#include <Ivy/ivyglibloop.h>
#define ASTECH 1
#include "tuning.h"
//#include "sliding_plot.h"
@@ -16,6 +18,8 @@
#define MB_MODES_RAMP 2
#define MB_MODES_STEP 3
#define MB_MODES_PRBS 4
#define MB_MODES_SINE 5
#define MB_MODES_FIXED_RPM 6
#define AS_MOT_FRONT 0
#define AS_MOT_BACK 1
@@ -39,7 +43,12 @@ struct motor_bench_state {
double amps;
double thrust;
double torque;
double av_rpm;
double av_throttle;
double av_thrust;
double av_amps;
GIOChannel* log_channel;
GIOChannel* log_channel_static;
};
struct motor_bench_gui {
@@ -111,6 +120,24 @@ static void on_MOTOR_BENCH_STATUS(IvyClientPtr app, void *user_data, int argc, c
// g_message("foo %f %f %f %f %d", mb_state.time, throttle, rpm, amp, mode);
}
static void on_MOTOR_BENCH_STATIC(IvyClientPtr app, void *user_data, int argc, char *argv[]){
mb_state.av_rpm = atof(argv[0]);
mb_state.av_thrust = atof(argv[1]);
mb_state.av_amps = atof(argv[2]);
mb_state.av_throttle = atof(argv[3]);
if (mb_state.log_channel_static) {
GString* str = g_string_sized_new(256);
g_string_printf(str, "%0f %.3f %.2f %.1f\n", mb_state.av_throttle, mb_state.av_rpm, mb_state.av_amps, mb_state.av_thrust);
gsize b_writen;
GError* my_err = NULL;
GIOStatus stat = g_io_channel_write_chars(mb_state.log_channel_static,str->str, str->len, &b_writen, &my_err);
g_string_free(str, TRUE);
}
g_message("in_static %f %f %f %f", mb_state.av_throttle, mb_state.av_rpm, mb_state.av_amps, mb_state.av_thrust);
}
static gboolean timeout_callback(gpointer data) {
GString* str = g_string_sized_new(64);
g_string_printf(str, "%.2f s", mb_state.time);
@@ -135,31 +162,43 @@ static void on_log_button_toggled (GtkWidget *widget, gpointer data) {
const gchar *log_file_name = gtk_entry_get_text (GTK_ENTRY (mb_gui.entry_log));
GError* my_err = NULL;
mb_state.log_channel = g_io_channel_new_file (log_file_name, "w", &my_err);
GString* static_name = g_string_sized_new(128);
g_string_printf(static_name,"%s%s", log_file_name, "_static");
mb_state.log_channel_static = g_io_channel_new_file (static_name->str, "w", &my_err);
g_string_free(static_name, TRUE);
}
else {
gtk_editable_set_editable( GTK_EDITABLE(mb_gui.entry_log), TRUE );
if (mb_state.log_channel) {
g_io_channel_close(mb_state.log_channel);
g_io_channel_close(mb_state.log_channel_static);
mb_state.log_channel = NULL;
mb_state.log_channel_static = NULL;
}
}
}
static void on_as_test_button_clicked (GtkWidget *widget, gpointer data) {
#ifdef ASTECH
IvySendMsg("dl DL_SETTING %d %d %d", mb_id, PPRZ_MB_TWI_CONTROLLER_ASCTECH_COMMAND_TYPE, AS_CMD_TEST_ADDR);
#endif
}
static void on_as_reverse_button_clicked (GtkWidget *widget, gpointer data) {
#ifdef ASTECH
IvySendMsg("dl DL_SETTING %d %d %d", mb_id, PPRZ_MB_TWI_CONTROLLER_ASCTECH_COMMAND_TYPE, AS_CMD_REVERSE);
#endif
}
static void on_as_addr_changed (GtkRadioButton *radiobutton, gpointer user_data) {
#ifdef ASTECH
if (!gtk_toggle_button_get_active(GTK_TOGGLE_BUTTON(radiobutton)))
return;
guint new_addr = (guint)user_data;
IvySendMsg("dl DL_SETTING %d %d %d", mb_id, PPRZ_MB_TWI_CONTROLLER_ASCTECH_ADDR, new_addr);
#endif
}
@@ -175,6 +214,7 @@ int main (int argc, char** argv) {
IvyInit ("MotorBench", "MotorBench READY", NULL, NULL, NULL, NULL);
IvyBindMsg(on_MOTOR_BENCH_STATUS, NULL, "^\\S* MOTOR_BENCH_STATUS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_MOTOR_BENCH_STATIC, NULL, "^\\S* MOTOR_BENCH_STATIC (\\S*) (\\S*) (\\S*) (\\S*)");
IvyStart("127.255.255.255");
g_timeout_add(40, timeout_callback, NULL);
@@ -232,12 +272,24 @@ static GtkWidget* build_gui ( void ) {
gtk_box_pack_start (GTK_BOX (vbox2), rb_prbs, TRUE, TRUE, 0);
gtk_radio_button_set_group (GTK_RADIO_BUTTON (rb_prbs), rb_mode_group);
rb_mode_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (rb_prbs));
GtkWidget* rb_sine = gtk_radio_button_new_with_mnemonic (NULL, "sine");
gtk_box_pack_start (GTK_BOX (vbox2), rb_sine, TRUE, TRUE, 0);
gtk_radio_button_set_group (GTK_RADIO_BUTTON (rb_sine), rb_mode_group);
rb_mode_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (rb_sine));
GtkWidget* rb_fixed_rpm = gtk_radio_button_new_with_mnemonic (NULL, "fixed");
gtk_box_pack_start (GTK_BOX (vbox2), rb_fixed_rpm, TRUE, TRUE, 0);
gtk_radio_button_set_group (GTK_RADIO_BUTTON (rb_fixed_rpm), rb_mode_group);
rb_mode_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (rb_fixed_rpm));
g_signal_connect ((gpointer) rb_idle, "toggled", G_CALLBACK (on_mode_changed), (gpointer)MB_MODES_IDLE);
g_signal_connect ((gpointer) rb_manual, "toggled", G_CALLBACK (on_mode_changed), (gpointer)MB_MODES_MANUAL);
g_signal_connect ((gpointer) rb_ramp, "toggled", G_CALLBACK (on_mode_changed), (gpointer)MB_MODES_RAMP);
g_signal_connect ((gpointer) rb_step, "toggled", G_CALLBACK (on_mode_changed), (gpointer)MB_MODES_STEP);
g_signal_connect ((gpointer) rb_prbs, "toggled", G_CALLBACK (on_mode_changed), (gpointer)MB_MODES_PRBS);
g_signal_connect ((gpointer) rb_sine, "toggled", G_CALLBACK (on_mode_changed), (gpointer)MB_MODES_SINE);
g_signal_connect ((gpointer) rb_fixed_rpm, "toggled", G_CALLBACK (on_mode_changed), (gpointer)MB_MODES_FIXED_RPM);
//
sw/in_progress/motor_bench/test.sce
+4 -2
View File
@@ -5,12 +5,12 @@ getf('mb_utils.sci');
args = sciargs();
[nb_args, foo] = size(args)
filename = args(nb_args);
filename = "data/steps2_stout_aero_geared.txt"
filename = "asctech/log_ramp_crooked_prop.txt"
[time, throttle, rpm, amp, thrust, torque] = read_mb_log(filename);
f_sample = 200.;
f_sample = 250.;
fc = 100.;
f_rpm = low_pass_filter(f_sample, fc, rpm);
@@ -28,3 +28,5 @@ subplot(3,1,3)
xtitle('Filtered Rpm');
plot2d(time, f_rpm);
//plot2d(rpm, throttle);
save('asctech/log_ramp_crooked_prop.dat', time, throttle, rpm, amp, thrust, torque);