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Hide actuator driver number from code (#3206)

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* Hide actuator internal driver number. Should never be used in code.

* Bugfix ... these should not be actutator_driver numbers but INDI output numbers
This commit is contained in:
Christophe De Wagter
2023-12-15 08:25:23 +01:00
committed by GitHub
parent fc047cf243
commit 4d8c690d8f
2 changed files with 8 additions and 7 deletions
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sw/airborne/modules/ctrl/eff_scheduling_rot_wing.c
+4 -3
View File
@@ -257,9 +257,10 @@ void eff_scheduling_rot_wing_update_MMOI(void)
void eff_scheduling_rot_wing_update_cmd(void)
{
eff_sched_var.cmd_elevator = actuators_pprz[SERVO_SERVO_ELEVATOR];
eff_sched_var.cmd_pusher_scaled = actuators_pprz[SERVO_MOTOR_PUSH] * 0.000853229; // Scaled with 8181 / 9600 / 1000
eff_sched_var.cmd_T_mean_scaled = (actuators_pprz[SERVO_MOTOR_FRONT] + actuators_pprz[SERVO_MOTOR_RIGHT] + actuators_pprz[SERVO_MOTOR_BACK] + actuators_pprz[SERVO_MOTOR_LEFT]) / 4. * 0.000853229; // Scaled with 8181 / 9600 / 1000
// These indexes depend on the INDI sequence, not the actuator IDX
eff_sched_var.cmd_elevator = actuators_pprz[5];
eff_sched_var.cmd_pusher_scaled = actuators_pprz[8] * 0.000853229; // Scaled with 8181 / 9600 / 1000
eff_sched_var.cmd_T_mean_scaled = (actuators_pprz[0] + actuators_pprz[1] + actuators_pprz[2] + actuators_pprz[3]) / 4. * 0.000853229; // Scaled with 8181 / 9600 / 1000
}
void eff_scheduling_rot_wing_update_airspeed(void)
sw/tools/generators/gen_airframe.ml
+4 -4
View File
@@ -151,7 +151,7 @@ let print_reverse_servo_table = fun out driver servos ->
fprintf out " switch (_idx) {\n";
List.iter (fun c ->
let name = ExtXml.attrib c "name" in
fprintf out " case SERVO_%s: return SERVO_%s_MIN;\n" name name;
fprintf out " case SERVO_%s_DRIVER_NO: return SERVO_%s_MIN;\n" name name;
) servos;
fprintf out " default: return 0;\n";
fprintf out " };\n";
@@ -160,7 +160,7 @@ let print_reverse_servo_table = fun out driver servos ->
fprintf out " switch (_idx) {\n";
List.iter (fun c ->
let name = ExtXml.attrib c "name" in
fprintf out " case SERVO_%s: return SERVO_%s_MAX;\n" name name;
fprintf out " case SERVO_%s_DRIVER_NO: return SERVO_%s_MAX;\n" name name;
) servos;
fprintf out " default: return 0;\n";
fprintf out " };\n";
@@ -171,7 +171,7 @@ let parse_servo = fun out driver c ->
let name = "SERVO_"^shortname
and no_servo = int_of_string (ExtXml.attrib c "no") in
define_out out name (string_of_int no_servo);
define_out out (name^"_DRIVER_NO") (string_of_int no_servo);
let s_min = fos (ExtXml.attrib c "min" )
and neutral = fos (ExtXml.attrib c "neutral")
@@ -211,7 +211,7 @@ let print_actuators_idx = fun out ->
(* Set servo macro *)
fprintf out "#define Set_%s_Servo(_v) { \\\n" s;
fprintf out " actuators[SERVO_%s_IDX] = Clip(_v, SERVO_%s_MIN, SERVO_%s_MAX); \\\n" s s s;
fprintf out " Actuator%sSet(SERVO_%s, actuators[SERVO_%s_IDX]); \\\n" d s s;
fprintf out " Actuator%sSet(SERVO_%s_DRIVER_NO, actuators[SERVO_%s_IDX]); \\\n" d s s;
fprintf out "}\n\n"
) servos_drivers;
define_out out "ACTUATORS_NB" (string_of_int (Hashtbl.length servos_drivers));