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[generator] servo command_value floating point (#3476)
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Co-authored-by: Fabien-B <Fabien-B@github.com>
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Fabien-B
2025-06-23 11:28:55 +02:00
committed by GitHub
co-authored by Fabien-B
parent 3f7bc48507
commit 3a6ea80f57
1 changed files with 1 additions and 4 deletions
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sw/tools/generators/gen_airframe.ml
+1 -4
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@@ -246,9 +246,7 @@ let parse_servo = fun out driver c ->
define_out out (name^"_NEUTRAL") (sof neutral);
define_out out (name^"_TRAVEL_UP") (sof travel_up);
define_integer out (name^"_TRAVEL_UP") travel_up 16;
define_out out (name^"_TRAVEL_DOWN") (sof travel_down);
define_integer out (name^"_TRAVEL_DOWN") travel_down 16;
let s_min = min s_min s_max
and s_max = max s_min s_max in
@@ -275,8 +273,7 @@ let print_actuators_idx = fun out ->
fprintf out " int32_t servo_value;\\\n";
fprintf out " int32_t command_value;\\\n\\\n";
fprintf out " actuators[SERVO_%s_IDX].pprz_val = ClipAbs( actuator_value_pprz, MAX_PPRZ); \\\n" s;
fprintf out " command_value = actuator_value_pprz * (actuator_value_pprz>0 ? SERVO_%s_TRAVEL_UP_NUM : SERVO_%s_TRAVEL_DOWN_NUM); \\\n" s s;
fprintf out " command_value /= actuator_value_pprz>0 ? SERVO_%s_TRAVEL_UP_DEN : SERVO_%s_TRAVEL_DOWN_DEN; \\\n" s s;
fprintf out " command_value = actuator_value_pprz * (actuator_value_pprz>0 ? SERVO_%s_TRAVEL_UP : SERVO_%s_TRAVEL_DOWN); \\\n" s s;
fprintf out " servo_value = SERVO_%s_NEUTRAL + command_value; \\\n" s;
fprintf out " actuators[SERVO_%s_IDX].driver_val = Clip(servo_value, SERVO_%s_MIN, SERVO_%s_MAX); \\\n" s s s;
fprintf out " Actuator%sSet(SERVO_%s_DRIVER_NO, actuators[SERVO_%s_IDX].driver_val); \\\n" d s s;