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[actuators] some bug fix

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- actuators test programms are disabled for now, needs more work
This commit is contained in:
Gautier Hattenberger
2012-10-19 17:07:37 +02:00
parent 59c4d89ee5
commit 13565a0e06
11 changed files with 35 additions and 21 deletions
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conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
+8
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@@ -102,6 +102,14 @@
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/> <define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section> </section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
<set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
<set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
<set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>
</command_laws>
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="32581"/> <define name="GYRO_P_NEUTRAL" value="32581"/>
<define name="GYRO_Q_NEUTRAL" value="32008"/> <define name="GYRO_Q_NEUTRAL" value="32008"/>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+8 -1
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@@ -90,7 +90,6 @@
<axis name="THRUST" failsafe_value="0"/> <axis name="THRUST" failsafe_value="0"/>
</commands> </commands>
<section name="MIXING" prefix="MOTOR_MIXING_"> <section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/> <define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/> <define name="TRIM_PITCH" value="0"/>
@@ -103,6 +102,14 @@
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/> <define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section> </section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
<set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
<set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
<set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>
</command_laws>
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="32581"/> <define name="GYRO_P_NEUTRAL" value="32581"/>
<define name="GYRO_Q_NEUTRAL" value="32008"/> <define name="GYRO_Q_NEUTRAL" value="32008"/>
conf/airframes/examples/h_hex.xml
+2 -2
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@@ -211,8 +211,8 @@
<target name="test_adxl345" board="lisa_l_1.0"/> <target name="test_adxl345" board="lisa_l_1.0"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/> <target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/> <target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
<target name="test_actuators_mkk" board="lisa_l_1.0"/> <!--target name="test_actuators_mkk" board="lisa_l_1.0"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/> <target name="test_actuators_asctecv1" board="lisa_l_1.0"/-->
</firmware> </firmware>
</airframe> </airframe>
conf/airframes/examples/lisa_asctec.xml
+2 -2
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@@ -228,8 +228,8 @@
<target name="test_adxl345" board="lisa_l_1.1"/> <target name="test_adxl345" board="lisa_l_1.1"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.1"/> <target name="test_esc_mkk_simple" board="lisa_l_1.1"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/> <target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
<target name="test_actuators_mkk" board="lisa_l_1.1"/> <!--target name="test_actuators_mkk" board="lisa_l_1.1"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.1"/> <target name="test_actuators_asctecv1" board="lisa_l_1.1"/-->
</firmware> </firmware>
conf/airframes/examples/setup_lisam2.xml
+1 -1
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@@ -4,7 +4,7 @@
<firmware name="setup"> <firmware name="setup">
<target name="tunnel" board="lisa_m_2.0"/> <target name="tunnel" board="lisa_m_2.0"/>
<target name="setup_actuators" board="lisa_m_2.0"/> <!--target name="setup_actuators" board="lisa_m_2.0"/-->
</firmware> </firmware>
<firmware name="lisa_test_progs"> <firmware name="lisa_test_progs">
sw/airborne/firmwares/setup/setup_actuators.c
+4 -5
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@@ -4,8 +4,7 @@
#include "mcu.h" #include "mcu.h"
#include "mcu_periph/sys_time.h" #include "mcu_periph/sys_time.h"
#include "led.h" #include "led.h"
#include "firmwares/fixedwing/actuators.h" #include "subsystems/actuators.h"
//#include "actuators.h"
#include "firmwares/fixedwing/main_fbw.h" #include "firmwares/fixedwing/main_fbw.h"
@@ -31,7 +30,7 @@ void dl_parse_msg( void ) {
uint16_t servo_value = DL_SET_ACTUATOR_value(dl_buffer); uint16_t servo_value = DL_SET_ACTUATOR_value(dl_buffer);
LED_TOGGLE(2); LED_TOGGLE(2);
if (servo_no < ACTUATORS_NB) if (servo_no < ACTUATORS_NB)
SetServo(servo_no, servo_value); //SetServo(servo_no, servo_value);
} }
#ifdef DlSetting #ifdef DlSetting
else if (msg_id == DL_SETTING && DL_SETTING_ac_id(dl_buffer) == AC_ID) { else if (msg_id == DL_SETTING && DL_SETTING_ac_id(dl_buffer) == AC_ID) {
@@ -40,7 +39,7 @@ void dl_parse_msg( void ) {
DlSetting(i, val); DlSetting(i, val);
LED_TOGGLE(2); LED_TOGGLE(2);
for (int j=0 ; j<8 ; j++) { for (int j=0 ; j<8 ; j++) {
SetServo(j,actuators[j]); //SetServo(j,actuators[j]);
} }
DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val); DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val);
} else if (msg_id == DL_GET_SETTING && DL_GET_SETTING_ac_id(dl_buffer) == AC_ID) { } else if (msg_id == DL_GET_SETTING && DL_GET_SETTING_ac_id(dl_buffer) == AC_ID) {
@@ -59,7 +58,7 @@ void init_fbw( void ) {
uint8_t i; uint8_t i;
for(i = 0; i < ACTUATORS_NB; i++) { for(i = 0; i < ACTUATORS_NB; i++) {
SetServo(i, 1500); //SetServo(i, 1500);
} }
// SetServo(SERVO_GAZ, SERVO_GAZ_MIN); // SetServo(SERVO_GAZ, SERVO_GAZ_MIN);
sw/airborne/lisa/lisa_stm_passthrough_main.c
+2 -2
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@@ -27,8 +27,8 @@
#include "mcu_periph/sys_time.h" #include "mcu_periph/sys_time.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "firmwares/rotorcraft/commands.h" #include "firmwares/rotorcraft/commands.h"
#include "actuators.h" #include "subsystems/actuators.h"
#include "actuators/actuators_pwm.h" #include "subsystems/actuators/actuators_pwm.h"
#include "subsystems/imu.h" #include "subsystems/imu.h"
#include "subsystems/radio_control.h" #include "subsystems/radio_control.h"
#include "autopilot.h" #include "autopilot.h"
sw/airborne/lisa/test/lisa_test_actuators_mkk.c
+2 -2
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@@ -25,7 +25,7 @@
#include "mcu.h" #include "mcu.h"
#include "mcu_periph/sys_time.h" #include "mcu_periph/sys_time.h"
#include "firmwares/rotorcraft/commands.h" #include "firmwares/rotorcraft/commands.h"
#include "actuators.h" #include "subsystems/actuators.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include "led.h" #include "led.h"
@@ -95,7 +95,7 @@ static inline void main_periodic_task( void ) {
commands[COMMAND_YAW] = 20; commands[COMMAND_YAW] = 20;
commands[COMMAND_THRUST] = 0; commands[COMMAND_THRUST] = 0;
// actuators_set(TRUE); // actuators_set(TRUE);
actuators_set(FALSE); //actuators_set(FALSE);
} }
LED_PERIODIC(); LED_PERIODIC();
sw/airborne/subsystems/actuators/actuators_mkk.h
+1 -1
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@@ -41,7 +41,7 @@ extern struct ActuatorsMkk actuators_mkk;
extern void actuators_mkk_init(void); extern void actuators_mkk_init(void);
extern void actuators_mkk_set(void); extern void actuators_mkk_set(void);
#define ActuatorMkkSet(_i, _v) { actuators_mkk.trans[i].buf[0] = _v; } #define ActuatorMkkSet(_i, _v) { actuators_mkk.trans[_i].buf[0] = _v; }
#define ActuatorsMkkInit() actuators_mkk_init() #define ActuatorsMkkInit() actuators_mkk_init()
#define ActuatorsMkkCommit() actuators_mkk_set() #define ActuatorsMkkCommit() actuators_mkk_set()
sw/airborne/test/test_actuators.c
+2 -2
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@@ -28,7 +28,7 @@
#include "mcu_periph/i2c.h" #include "mcu_periph/i2c.h"
#include "firmwares/rotorcraft/commands.h" #include "firmwares/rotorcraft/commands.h"
#include "firmwares/rotorcraft/actuators.h" #include "subsystems/actuators.h"
static inline void main_init( void ); static inline void main_init( void );
static inline void main_periodic_task( void ); static inline void main_periodic_task( void );
@@ -61,7 +61,7 @@ static inline void main_periodic_task( void ) {
commands[COMMAND_YAW]=0; commands[COMMAND_YAW]=0;
commands[COMMAND_THRUST]=1; commands[COMMAND_THRUST]=1;
actuators_set(TRUE); //actuators_set(TRUE);
LED_PERIODIC(); LED_PERIODIC();
sw/simulator/nps/nps_autopilot_rotorcraft.c
+3 -3
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@@ -32,7 +32,7 @@
#include "mcu_periph/sys_time.h" #include "mcu_periph/sys_time.h"
#include "state.h" #include "state.h"
#include "actuators/supervision.h" #include "actuators/motor_mixing.h"
struct NpsAutopilot autopilot; struct NpsAutopilot autopilot;
@@ -100,8 +100,8 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) {
/* scale final motor commands to 0-1 for feeding the fdm */ /* scale final motor commands to 0-1 for feeding the fdm */
/* FIXME: autopilot.commands is of length NB_COMMANDS instead of number of motors */ /* FIXME: autopilot.commands is of length NB_COMMANDS instead of number of motors */
for (uint8_t i=0; i<SUPERVISION_NB_MOTOR; i++) for (uint8_t i=0; i<MOTOR_MIXING_NB_MOTOR; i++)
autopilot.commands[i] = (double)(supervision.commands[i] - SUPERVISION_MIN_MOTOR) / SUPERVISION_MAX_MOTOR; autopilot.commands[i] = (double)(motor_mixing.commands[i]/MAX_PPRZ);
} }