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Move motor scale factor into airframe, and add thrust coefs

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This commit is contained in:
Allen Ibara
2009-09-09 18:16:09 +00:00
parent d306a6c873
commit 907115e772
4 changed files with 15 additions and 8 deletions
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conf/airframes/booz2_a1.xml
+2
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@@ -26,9 +26,11 @@
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
<define name="THRUST_COEF" value="{ 1, 1, 1, 1}"/>
</section>
<section name="IMU" prefix="IMU_">
conf/airframes/booz2_a5.xml
+2
View File
@@ -28,9 +28,11 @@
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="6"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ -69, 69, -256, 256, -186, 186 }"/>
<define name="PITCH_COEF" value="{ -256, -256, 0, 0, 256, 256 }"/>
<define name="YAW_COEF" value="{ -153, 153, 256, -256, -115, 115 }"/>
<define name="THRUST_COEF" value="{ 1, 1, 1, 1, 1, 1 }"/>
</section>
<section name="IMU" prefix="IMU_">
conf/airframes/booz2_x1.xml
+2
View File
@@ -27,9 +27,11 @@
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
<define name="THRUST_COEF" value="{ 1, 1, 1, 1}"/>
</section>
<section name="IMU" prefix="IMU_">
sw/airborne/booz/actuators/booz_supervision.c
+9 -8
View File
@@ -32,9 +32,10 @@
#define INT32_MAX (2147483647)
#endif
static const int32_t roll_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_ROLL_COEF;
static const int32_t pitch_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_PITCH_COEF;
static const int32_t yaw_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_YAW_COEF;
static const int32_t roll_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_ROLL_COEF;
static const int32_t pitch_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_PITCH_COEF;
static const int32_t yaw_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_YAW_COEF;
static const int32_t thrust_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_THRUST_COEF;
struct BoozSupervision supervision;
@@ -70,11 +71,11 @@ void supervision_run(bool_t motors_on, int32_t in_cmd[] ) {
int32_t max_cmd = INT32_MIN;
for (i=0; i<SUPERVISION_NB_MOTOR; i++) {
supervision.commands[i] =
in_cmd[COMMAND_THRUST] +
(roll_coef[i] * in_cmd[COMMAND_ROLL] +
pitch_coef[i] * in_cmd[COMMAND_PITCH] +
yaw_coef[i] * in_cmd[COMMAND_YAW] +
supervision.trim[i] )/256;
(thrust_coef[i] * in_cmd[COMMAND_THRUST] +
roll_coef[i] * in_cmd[COMMAND_ROLL] +
pitch_coef[i] * in_cmd[COMMAND_PITCH] +
yaw_coef[i] * in_cmd[COMMAND_YAW] +
supervision.trim[i]) / SUPERVISION_SCALE;
if (supervision.commands[i] < min_cmd)
min_cmd = supervision.commands[i];
if (supervision.commands[i] > max_cmd)