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AirModeYaw - Change airmode type from bool to int

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This commit is contained in:
bresch
2018-12-13 09:50:07 +01:00
committed by Beat Küng
parent b2fd8abf9e
commit 7cc00f41d2
12 changed files with 33 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/linux_pwm_out/linux_pwm_out.cpp
+4 -6
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@@ -116,7 +116,7 @@ static void subscribe();
static void task_main(int argc, char *argv[]);
static void update_params(bool &airmode);
static void update_params(int32_t &airmode);
/* mixer initialization */
int initialize_mixer(const char *mixer_filename);
@@ -135,15 +135,13 @@ int mixer_control_callback(uintptr_t handle,
}
void update_params(bool &airmode)
void update_params(int32_t &airmode)
{
// multicopter air-mode
param_t param_handle = param_find("MC_AIRMODE");
if (param_handle != PARAM_INVALID) {
int32_t val;
param_get(param_handle, &val);
airmode = val > 0;
param_get(param_handle, (int32_t *)&airmode);
}
}
@@ -257,7 +255,7 @@ void task_main(int argc, char *argv[])
// subscribe and set up polling
subscribe();
bool airmode = false;
int32_t airmode = false;
update_params(airmode);
int params_sub = orb_subscribe(ORB_ID(parameter_update));
src/drivers/pwm_out_sim/PWMSim.cpp
+1 -3
View File
@@ -146,9 +146,7 @@ void PWMSim::update_params()
param_t param_handle = param_find("MC_AIRMODE");
if (param_handle != PARAM_INVALID) {
int32_t val;
param_get(param_handle, &val);
_airmode = val > 0;
param_get(param_handle, &_airmode);
}
}
src/drivers/pwm_out_sim/PWMSim.hpp
+1 -1
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@@ -131,7 +131,7 @@ private:
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
bool _airmode{false}; ///< multicopter air-mode
int32_t _airmode{0}; ///< multicopter air-mode
perf_counter_t _perf_control_latency;
src/drivers/px4fmu/fmu.cpp
+4 -7
View File
@@ -237,7 +237,7 @@ private:
float _mot_t_max; ///< maximum rise time for motor (slew rate limiting)
float _thr_mdl_fac; ///< thrust to pwm modelling factor
bool _airmode; ///< multicopter air-mode
int32_t _airmode; ///< multicopter air-mode
MotorOrdering _motor_ordering;
perf_counter_t _perf_control_latency;
@@ -321,7 +321,7 @@ PX4FMU::PX4FMU(bool run_as_task) :
_to_mixer_status(nullptr),
_mot_t_max(0.0f),
_thr_mdl_fac(0.0f),
_airmode(false),
_airmode(0),
_motor_ordering(MotorOrdering::PX4),
_perf_control_latency(perf_alloc(PC_ELAPSED, "fmu control latency"))
{
@@ -1195,7 +1195,7 @@ PX4FMU::cycle()
}
}
/* overwrite outputs in case of lockdown with disarmed PWM values */
/* overwrite outputs in case of lockdown or parachute triggering with disarmed PWM values */
if (_armed.lockdown || _armed.manual_lockdown) {
for (size_t i = 0; i < mixed_num_outputs; i++) {
pwm_limited[i] = _disarmed_pwm[i];
@@ -1382,10 +1382,7 @@ void PX4FMU::update_params()
param_handle = param_find("MC_AIRMODE");
if (param_handle != PARAM_INVALID) {
int32_t val;
param_get(param_handle, &val);
_airmode = val > 0;
PX4_DEBUG("%s: %d", "MC_AIRMODE", _airmode);
param_get(param_handle, &_airmode);
}
// motor ordering
src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
+4 -6
View File
@@ -138,7 +138,7 @@ static void subscribe();
static void task_main(int argc, char *argv[]);
static void update_params(bool &airmode);
static void update_params(int32_t &airmode);
int initialize_mixer(const char *mixer_filename);
@@ -162,15 +162,13 @@ int mixer_control_callback(uintptr_t handle,
return 0;
}
void update_params(bool &airmode)
void update_params(int32_t &airmode)
{
// multicopter air-mode
param_t param_handle = param_find("MC_AIRMODE");
if (param_handle != PARAM_INVALID) {
int32_t val;
param_get(param_handle, &val);
airmode = val > 0;
param_get(param_handle, &airmode);
}
}
@@ -357,7 +355,7 @@ void task_main(int argc, char *argv[])
// subscribe and set up polling
subscribe();
bool airmode = false;
int32_t airmode = 0;
update_params(airmode);
int params_sub = orb_subscribe(ORB_ID(parameter_update));
src/drivers/uavcan/uavcan_main.cpp
+1 -3
View File
@@ -428,9 +428,7 @@ void UavcanNode::update_params()
param_t param_handle = param_find("MC_AIRMODE");
if (param_handle != PARAM_INVALID) {
int32_t val;
param_get(param_handle, &val);
_airmode = val > 0;
param_get(param_handle, &_airmode);
}
}
src/drivers/uavcan/uavcan_main.hpp
+1 -1
View File
@@ -210,7 +210,7 @@ private:
perf_counter_t _perf_control_latency;
bool _airmode = false;
int32_t _airmode = 0;
// index into _poll_fds for each _control_subs handle
uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
src/lib/mixer/mixer.h
+5 -5
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@@ -221,9 +221,9 @@ public:
/**
* @brief Set airmode. Airmode allows the mixer to increase the total thrust in order to unsaturate the motors.
*
* @param[in] airmode De/-activate airmode by setting it to false/true
* @param[in] airmode Select airmode type (0 = disabled, 1 = roll/pitch, 2 = roll/pitch/yaw)
*/
virtual void set_airmode(bool airmode) {};
virtual void set_airmode(int32_t airmode) {};
protected:
/** client-supplied callback used when fetching control values */
@@ -419,7 +419,7 @@ public:
*/
virtual void set_thrust_factor(float val);
virtual void set_airmode(bool airmode);
virtual void set_airmode(uint32_t airmode);
private:
Mixer *_first; /**< linked list of mixers */
@@ -668,7 +668,7 @@ public:
*/
virtual void set_thrust_factor(float val) {_thrust_factor = val;}
virtual void set_airmode(bool airmode);
virtual void set_airmode(uint32_t airmode);
union saturation_status {
struct {
@@ -695,7 +695,7 @@ private:
float _delta_out_max;
float _thrust_factor;
bool _airmode;
uint32_t _airmode;
void update_saturation_status(unsigned index, bool clipping_high, bool clipping_low);
saturation_status _saturation_status;
src/lib/mixer/mixer_group.cpp
+1 -1
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@@ -188,7 +188,7 @@ MixerGroup::set_thrust_factor(float val)
}
void
MixerGroup::set_airmode(bool airmode)
MixerGroup::set_airmode(int32_t airmode)
{
Mixer *mixer = _first;
src/lib/mixer/mixer_multirotor.cpp
+3 -3
View File
@@ -72,7 +72,7 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
_idle_speed(-1.0f + idle_speed * 2.0f), /* shift to output range here to avoid runtime calculation */
_delta_out_max(0.0f),
_thrust_factor(0.0f),
_airmode(false),
_airmode(0),
_rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
_rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry]),
_outputs_prev(new float[_rotor_count])
@@ -214,7 +214,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
boost = 1.0f - ((max_out - thrust) * roll_pitch_scale + thrust);
}
if (!_airmode) {
if (_airmode == 0) {
// disable positive boosting if not in air-mode
// boosting can only be positive when min_out < 0.0
// roll_pitch_scale is reduced accordingly
@@ -425,7 +425,7 @@ MultirotorMixer::update_saturation_status(unsigned index, bool clipping_high, bo
}
void
MultirotorMixer::set_airmode(bool airmode)
MultirotorMixer::set_airmode(int32_t airmode)
{
_airmode = airmode;
}
src/modules/mc_att_control/mc_att_control_params.c
+5 -1
View File
@@ -572,7 +572,11 @@ PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 30.f);
* This function should be disabled during tuning as it will help the controller
* to diverge if the closed-loop is unstable.
*
* @boolean
* 0 = Disabled, 1 = Roll/Pitch, 2 = Roll/Pitch/Yaw
*
* @min 0
* @max 2
* @decimal 0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_INT32(MC_AIRMODE, 0);
src/modules/px4iofirmware/protocol.h
+3 -2
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@@ -234,11 +234,12 @@ enum { /* DSM bind states */
#define PX4IO_P_SETUP_MOTOR_SLEW_MAX 24 /* max motor slew rate */
#define PX4IO_P_SETUP_AIRMODE 27 /* air-mode */
#define PX4IO_P_SETUP_THR_MDL_FAC 25 /* factor for modelling static pwm output to thrust relationship */
#define PX4IO_P_SETUP_THERMAL 26 /* thermal management */
#define PX4IO_P_SETUP_AIRMODE 27 /* air-mode */
#define PX4IO_THERMAL_IGNORE UINT16_MAX
#define PX4IO_THERMAL_OFF 0
#define PX4IO_THERMAL_FULL 10000