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[airframe] Airframe update, missing default telemetry & fix reading angle

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This commit is contained in:
Christophe De Wagter
2023-10-13 13:37:25 +02:00
committed by Freek van Tienen
parent 2b89019f1d
commit 515cb9167f
3 changed files with 15 additions and 4 deletions
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conf/airframes/tudelft/rot_wing_25kg.xml
+8 -2
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@@ -255,14 +255,20 @@
<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true},.neutral={-3,3,13}, .scale={{15146,60067,2567},{1551,6124,263}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-26,9,2}, .scale={{32863,18346,55169},{6721,3745,11294}}}}"/>
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true},.neutral={-96,-292,-95}, .scale={{33136,8764,8709},{59233,15761,15343}}}}"/> <!-- Calibrated 't Harde 17-08-2023 -->
<define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true},.neutral={-96,-95,-292}, .scale={{33136,8709,8764},{59233,15343,15761}}}}"/> <!-- Calibrated 't Harde 17-08-2023 -->
<!-- Define axis in hover frame -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PHI" value="180." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="MAG_RM3100" prefix="RM3100_">
<define name="MAG_TO_IMU_PHI" value="-90.0"/>
<define name="MAG_TO_IMU_THETA" value="0.0"/>
<define name="MAG_TO_IMU_PSI" value="0.0"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- Limits -->
<define name="SP_MAX_PHI" value="45." unit="deg" />
conf/telemetry/highspeed_rotorcraft.xml
+6 -1
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@@ -45,8 +45,10 @@
<message name="HYBRID_GUIDANCE" period="0.4"/>
<message name="ESC" period="0.5"/>
<message name="AHRS_REF_QUAT" period="0.1"/>
<message name="INS_FLOW_INFO" period="0.1"/>
<message name="INS_FLOW_INFO" period="0.1"/>
<message name="GPS_RTK" period="0.1"/>
<message name="AIRSPEED_RAW" period="0.1"/>
<message name="ROTATING_WING_STATE" period="0.2"/>
</mode>
<mode name="calibration">
@@ -82,6 +84,7 @@
<message name="IMU_MAG_RAW" period=".05"/>
<message name="BARO_RAW" period=".1"/>
<message name="ARDRONE_NAVDATA" period=".05"/>
<message name="AIRSPEED_RAW" period="0.1"/>
</mode>
<mode name="scaled_sensors">
@@ -149,6 +152,7 @@
<mode name="vel_guidance" key_press="q">
<message name="ALIVE" period="0.9"/>
<message name="HYBRID_GUIDANCE" period="0.062"/>
<message name="GUIDANCE_INDI_HYBRID" period="0.1"/>
<!--<message name="STAB_ATTITUDE_REF" period="0.4"/>-->
<message name="ROTORCRAFT_FP" period="0.8"/>
<message name="ROTORCRAFT_STATUS" period="1.2"/>
@@ -242,6 +246,7 @@
<message name="ACTUATORS" period="0.002"/>
<message name="GPS_RTK" period="0.1"/>
<message name="IMU_HEATER" period="1.0"/>
<message name="AIRSPEED_RAW" period="0.01"/>
</mode>
</process>
sw/airborne/modules/ctrl/ctrl_eff_sched_rot_wing.c
+1 -1
View File
@@ -121,7 +121,7 @@ static abi_event wing_position_ev;
static void wing_position_cb(uint8_t sender_id UNUSED, struct act_feedback_t *pos_msg, uint8_t num_act)
{
for (int i=0; i<num_act; i++){
if (pos_msg[i].set.position && (pos_msg[i].idx = SERVO_ROTATION_MECH))
if (pos_msg[i].set.position && (pos_msg[i].idx == SERVO_ROTATION_MECH))
{
// Get wing rotation angle from sensor
eff_sched_var.wing_rotation_rad = 0.5 * M_PI - pos_msg[i].position;