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Additional changes to use commands instead of actuator_pprz (#3330)

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* first push

* Remove redundant logic
This commit is contained in:
Tomaso Maria Luigi De Ponti
2024-07-22 15:56:31 +02:00
committed by GitHub
parent 5f18e784b6
commit 6c8c6f118b
2 changed files with 12 additions and 3 deletions
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sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c
+1 -1
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@@ -1601,13 +1601,13 @@ void oneloop_andi_run(bool in_flight, bool half_loop, struct FloatVect3 PSA_des,
} }
/*Commit the actuator command*/ /*Commit the actuator command*/
stabilization.cmd[COMMAND_THRUST] = 0;
for (i = 0; i < ANDI_NUM_ACT; i++) { for (i = 0; i < ANDI_NUM_ACT; i++) {
//actuators_pprz[i] = (int16_t) andi_u[i]; //actuators_pprz[i] = (int16_t) andi_u[i];
commands[i] = (int16_t) andi_u[i]; commands[i] = (int16_t) andi_u[i];
} }
commands[COMMAND_THRUST] = (commands[COMMAND_MOTOR_FRONT] + commands[COMMAND_MOTOR_RIGHT] + commands[COMMAND_MOTOR_BACK] + commands[COMMAND_MOTOR_LEFT])/num_thrusters_oneloop; commands[COMMAND_THRUST] = (commands[COMMAND_MOTOR_FRONT] + commands[COMMAND_MOTOR_RIGHT] + commands[COMMAND_MOTOR_BACK] + commands[COMMAND_MOTOR_LEFT])/num_thrusters_oneloop;
autopilot.throttle = commands[COMMAND_THRUST]; autopilot.throttle = commands[COMMAND_THRUST];
stabilization.cmd[COMMAND_THRUST] = commands[COMMAND_THRUST];
if(autopilot.mode==AP_MODE_ATTITUDE_DIRECT){ if(autopilot.mode==AP_MODE_ATTITUDE_DIRECT){
eulers_zxy_des.phi = andi_u[COMMAND_ROLL]; eulers_zxy_des.phi = andi_u[COMMAND_ROLL];
eulers_zxy_des.theta = andi_u[COMMAND_PITCH]; eulers_zxy_des.theta = andi_u[COMMAND_PITCH];
sw/simulator/nps/nps_autopilot_rotorcraft.c
+11 -2
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@@ -35,9 +35,13 @@
#include "modules/ins/ins.h" #include "modules/ins/ins.h"
#include "math/pprz_algebra.h" #include "math/pprz_algebra.h"
#ifdef NPS_USE_COMMANDS
#include "modules/core/commands.h"
#define NPS_NO_MOTOR_MIXING TRUE
#endif
#ifndef NPS_NO_MOTOR_MIXING #ifndef NPS_NO_MOTOR_MIXING
#include "modules/actuators/motor_mixing.h" #include "modules/actuators/motor_mixing.h"
#if NPS_COMMANDS_NB != MOTOR_MIXING_NB_MOTOR #if NPS_COMMANDS_NB != MOTOR_MIXING_NB_MOTOR
#warning "NPS_COMMANDS_NB does not match MOTOR_MIXING_NB_MOTOR!" #warning "NPS_COMMANDS_NB does not match MOTOR_MIXING_NB_MOTOR!"
#endif #endif
@@ -169,8 +173,13 @@ void nps_autopilot_run_step(double time)
/* scale final motor commands to 0-1 for feeding the fdm */ /* scale final motor commands to 0-1 for feeding the fdm */
for (uint8_t i = 0; i < NPS_COMMANDS_NB; i++) { for (uint8_t i = 0; i < NPS_COMMANDS_NB; i++) {
#if NPS_NO_MOTOR_MIXING #if NPS_NO_MOTOR_MIXING
#if NPS_USE_COMMANDS
commands[i] = autopilot_get_motors_on() ? commands[i] : 0;
nps_autopilot.commands[i] = (double)commands[i] / MAX_PPRZ;
#else
actuators_pprz[i] = autopilot_get_motors_on() ? actuators_pprz[i] : 0; actuators_pprz[i] = autopilot_get_motors_on() ? actuators_pprz[i] : 0;
nps_autopilot.commands[i] = (double)actuators_pprz[i] / MAX_PPRZ; nps_autopilot.commands[i] = (double)actuators_pprz[i] / MAX_PPRZ;
#endif
#else #else
nps_autopilot.commands[i] = (double)motor_mixing.commands[i] / MAX_PPRZ; nps_autopilot.commands[i] = (double)motor_mixing.commands[i] / MAX_PPRZ;
#endif #endif