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px4iofirmware: added scale parameters for roll, pitch and yaw

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since pure manual control for fixed wings in handled on the io side
the scale parameters for roll, pitch and yaw had to be introduced there
as well.

Signed-off-by: Roman <bapstr@ethz.ch>
This commit is contained in:
Roman 2016-07-12 13:48:57 +02:00 committed by Andreas Antener
parent 71e2a43790
commit 08bbd6dbfa
4 changed files with 17 additions and 5 deletions
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6
src/modules/px4iofirmware/mixer.cpp
View File

@ -373,15 +373,15 @@ mixer_callback(uintptr_t handle,
if (source == MIX_OVERRIDE || source == MIX_OVERRIDE_FMU_OK) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
control_index == actuator_controls_s::INDEX_ROLL) {
control += REG_TO_FLOAT(r_setup_trim_roll);
control *= REG_TO_FLOAT(r_setup_scale_roll) + REG_TO_FLOAT(r_setup_trim_roll);
} else if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
control_index == actuator_controls_s::INDEX_PITCH) {
control += REG_TO_FLOAT(r_setup_trim_pitch);
control *= REG_TO_FLOAT(r_setup_scale_pitch) + REG_TO_FLOAT(r_setup_trim_pitch);
} else if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
control_index == actuator_controls_s::INDEX_YAW) {
control += REG_TO_FLOAT(r_setup_trim_yaw);
control *= REG_TO_FLOAT(r_setup_scale_yaw) + REG_TO_FLOAT(r_setup_trim_yaw);
}
}

5
src/modules/px4iofirmware/protocol.h
View File

@ -236,8 +236,11 @@ enum { /* DSM bind states */
#define PX4IO_P_SETUP_TRIM_ROLL 16 /**< Roll trim, in actuator units */
#define PX4IO_P_SETUP_TRIM_PITCH 17 /**< Pitch trim, in actuator units */
#define PX4IO_P_SETUP_TRIM_YAW 18 /**< Yaw trim, in actuator units */
#define PX4IO_P_SETUP_SCALE_ROLL 19 /**< Roll scale, in actuator units */
#define PX4IO_P_SETUP_SCALE_PITCH 20 /**< Pitch scale, in actuator units */
#define PX4IO_P_SETUP_SCALE_YAW 21 /**< Yaw scale, in actuator units */
#define PX4IO_P_SETUP_SBUS_RATE 19 /* frame rate of SBUS1 output in Hz */
#define PX4IO_P_SETUP_SBUS_RATE 22 /* frame rate of SBUS1 output in Hz */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */

3
src/modules/px4iofirmware/px4io.h
View File

@ -122,6 +122,9 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */
#define r_setup_trim_roll r_page_setup[PX4IO_P_SETUP_TRIM_ROLL]
#define r_setup_trim_pitch r_page_setup[PX4IO_P_SETUP_TRIM_PITCH]
#define r_setup_trim_yaw r_page_setup[PX4IO_P_SETUP_TRIM_YAW]
#define r_setup_scale_roll r_page_setup[PX4IO_P_SETUP_SCALE_ROLL]
#define r_setup_scale_pitch r_page_setup[PX4IO_P_SETUP_SCALE_PITCH]
#define r_setup_scale_yaw r_page_setup[PX4IO_P_SETUP_SCALE_YAW]
#define r_setup_sbus_rate r_page_setup[PX4IO_P_SETUP_SBUS_RATE]
#define r_control_values (&r_page_controls[0])

8
src/modules/px4iofirmware/registers.c
View File

@ -177,7 +177,10 @@ volatile uint16_t r_page_setup[] = {
[PX4IO_P_SETUP_PWM_REVERSE] = 0,
[PX4IO_P_SETUP_TRIM_ROLL] = 0,
[PX4IO_P_SETUP_TRIM_PITCH] = 0,
[PX4IO_P_SETUP_TRIM_YAW] = 0
[PX4IO_P_SETUP_TRIM_YAW] = 0,
[PX4IO_P_SETUP_SCALE_ROLL] = 10000,
[PX4IO_P_SETUP_SCALE_PITCH] = 10000,
[PX4IO_P_SETUP_SCALE_YAW] = 10000
};
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
@ -681,6 +684,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_P_SETUP_TRIM_ROLL:
case PX4IO_P_SETUP_TRIM_PITCH:
case PX4IO_P_SETUP_TRIM_YAW:
case PX4IO_P_SETUP_SCALE_ROLL:
case PX4IO_P_SETUP_SCALE_PITCH:
case PX4IO_P_SETUP_SCALE_YAW:
r_page_setup[offset] = value;
break;