fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 11:38:56 +08:00
Code Issues Packages Projects Releases Wiki Activity

RPMCapture: fix pulses per revolution parameter name, description, type -> use module params

Browse Source
This commit is contained in:
Matthias Grob
2024-12-19 07:30:25 +01:00
parent d31271c38e
commit 825dc47fad
3 changed files with 14 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/rpm_capture/RPMCapture.cpp
+5 -4
View File
@@ -40,7 +40,8 @@
#include <systemlib/mavlink_log.h> #include <systemlib/mavlink_log.h>
RPMCapture::RPMCapture() : RPMCapture::RPMCapture() :
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default) ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
ModuleParams(nullptr)
{ {
_pwm_input_pub.advertise(); _pwm_input_pub.advertise();
ScheduleNow(); ScheduleNow();
@@ -58,8 +59,8 @@ bool RPMCapture::init()
{ {
bool success = false; bool success = false;
param_get(param_find("RPM_PULSES_PER_REV"), &_pulses_per_revolution); _min_pulse_period_us = static_cast<uint32_t>(60.f * 1e6f / static_cast<float>(RPM_MAX_VALUE *
_min_pulse_period_us = static_cast<uint32_t>(60.f * 1e6f / static_cast<float>(RPM_MAX_VALUE * _pulses_per_revolution)); _param_rpm_puls_per_rev.get()));
for (unsigned i = 0; i < 16; ++i) { for (unsigned i = 0; i < 16; ++i) {
char param_name[17]; char param_name[17];
@@ -135,7 +136,7 @@ void RPMCapture::Run()
if (_period < RPM_PULSE_TIMEOUT) { if (_period < RPM_PULSE_TIMEOUT) {
// 1'000'000 / [us] -> pulses per second * 60 -> pulses per minute // 1'000'000 / [us] -> pulses per second * 60 -> pulses per minute
rpm_raw = 60.f * 1e6f / static_cast<float>(_pulses_per_revolution * _period); rpm_raw = 60.f * 1e6f / static_cast<float>(_param_rpm_puls_per_rev.get() * _period);
} }
const float dt = math::constrain((now - _timestamp_last_update) * 1e-6f, 0.01f, 1.f); const float dt = math::constrain((now - _timestamp_last_update) * 1e-6f, 0.01f, 1.f);
src/drivers/rpm_capture/RPMCapture.hpp
+6 -2
View File
@@ -38,6 +38,7 @@
#include <lib/mathlib/math/filter/MedianFilter.hpp> #include <lib/mathlib/math/filter/MedianFilter.hpp>
#include <px4_arch/micro_hal.h> #include <px4_arch/micro_hal.h>
#include <px4_platform_common/module.h> #include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp> #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp> #include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp> #include <uORB/PublicationMulti.hpp>
@@ -46,7 +47,7 @@
using namespace time_literals; using namespace time_literals;
class RPMCapture : public ModuleBase<RPMCapture>, public px4::ScheduledWorkItem class RPMCapture : public ModuleBase<RPMCapture>, public px4::ScheduledWorkItem, public ModuleParams
{ {
public: public:
RPMCapture(); RPMCapture();
@@ -76,7 +77,6 @@ private:
int _channel{-1}; int _channel{-1};
uint32_t _rpm_capture_gpio{0}; uint32_t _rpm_capture_gpio{0};
uint32_t _pulses_per_revolution{1};
uint32_t _min_pulse_period_us{1}; ///< [us] minimum pulse period uint32_t _min_pulse_period_us{1}; ///< [us] minimum pulse period
uORB::Publication<pwm_input_s> _pwm_input_pub{ORB_ID(pwm_input)}; uORB::Publication<pwm_input_s> _pwm_input_pub{ORB_ID(pwm_input)};
uORB::PublicationMulti<rpm_s> _rpm_pub{ORB_ID(rpm)}; uORB::PublicationMulti<rpm_s> _rpm_pub{ORB_ID(rpm)};
@@ -90,4 +90,8 @@ private:
hrt_abstime _timestamp_last_update{0}; ///< to caluclate dt hrt_abstime _timestamp_last_update{0}; ///< to caluclate dt
AlphaFilter<float> _rpm_filter; AlphaFilter<float> _rpm_filter;
MedianFilter<float, 5> _rpm_median_filter; MedianFilter<float, 5> _rpm_median_filter;
DEFINE_PARAMETERS(
(ParamInt<px4::params::RPM_PULS_PER_REV>) _param_rpm_puls_per_rev
)
}; };
src/drivers/rpm_capture/rpm_capture_params.c
+3 -3
View File
@@ -43,13 +43,13 @@
PARAM_DEFINE_INT32(RPM_CAP_ENABLE, 0); PARAM_DEFINE_INT32(RPM_CAP_ENABLE, 0);
/** /**
* RPM Pulses per Revolution * Voltage pulses per revolution
* *
* Number of pulses per revolution for the RPM sensor. * Number of voltage pulses per one rotor revolution on the capturing pin.
* *
* @group System * @group System
* @min 1 * @min 1
* @max 50 * @max 50
* @reboot_required true * @reboot_required true
*/ */
PARAM_DEFINE_INT32(RPM_PULSES_PER_REV, 1); PARAM_DEFINE_INT32(RPM_PULS_PER_REV, 1);