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implemented mapping between desired thrust and applied pwm in

Browse Source 
multirotor mixer.

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-12-15 23:39:53 +01:00
committed by Lorenz Meier
parent 22733b1501
commit d221313dfb
9 changed files with 95 additions and 3 deletions
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src/modules/px4iofirmware/mixer.cpp
+12
View File
@@ -248,7 +248,13 @@ mixer_tick(void)
}
/* mix */
/* update parameter for mc thrust model if it updated */
if (update_mc_thrust_param) {
mixer_group.set_thrust_factor(REG_TO_FLOAT(r_setup_thr_fac));
update_mc_thrust_param = false;
}
/* mix */
/* poor mans mutex */
in_mixer = true;
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT, &r_mixer_limits);
@@ -536,6 +542,12 @@ mixer_set_failsafe()
mixer_group.set_max_delta_out_once(delta_out_max);
}
/* update parameter for mc thrust model if it updated */
if (update_mc_thrust_param) {
mixer_group.set_thrust_factor(REG_TO_FLOAT(r_setup_thr_fac));
update_mc_thrust_param = false;
}
/* mix */
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT, &r_mixer_limits);
src/modules/px4iofirmware/protocol.h
+3 -1
View File
@@ -241,7 +241,9 @@ enum { /* DSM bind states */
#define PX4IO_P_SETUP_MOTOR_SLEW_MAX 24 /* max motor slew rate */
#define PX4IO_P_SETUP_THERMAL 25 /* thermal management */
#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_THERMAL_IGNORE UINT16_MAX
#define PX4IO_THERMAL_OFF 0
#define PX4IO_THERMAL_FULL 10000
src/modules/px4iofirmware/px4io.h
+2
View File
@@ -127,6 +127,7 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */
#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_setup_thr_fac r_page_setup[PX4IO_P_SETUP_THR_MDL_FAC]
#define r_setup_slew_max r_page_setup[PX4IO_P_SETUP_MOTOR_SLEW_MAX]
#define r_control_values (&r_page_controls[0])
@@ -148,6 +149,7 @@ struct sys_state_s {
extern struct sys_state_s system_state;
extern float dt;
extern bool update_mc_thrust_param;
/*
* PWM limit structure
src/modules/px4iofirmware/registers.c
+5 -1
View File
@@ -56,6 +56,7 @@
static int registers_set_one(uint8_t page, uint8_t offset, uint16_t value);
static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate);
bool update_mc_thrust_param;
/**
* PAGE 0
*
@@ -182,6 +183,7 @@ volatile uint16_t r_page_setup[] = {
[PX4IO_P_SETUP_SCALE_PITCH] = 10000,
[PX4IO_P_SETUP_SCALE_YAW] = 10000,
[PX4IO_P_SETUP_MOTOR_SLEW_MAX] = 0,
[PX4IO_P_SETUP_THR_MDL_FAC] = 0,
[PX4IO_P_SETUP_THERMAL] = PX4IO_THERMAL_IGNORE
};
@@ -709,12 +711,14 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_P_SETUP_SCALE_ROLL:
case PX4IO_P_SETUP_SCALE_PITCH:
case PX4IO_P_SETUP_SCALE_YAW:
case PX4IO_P_SETUP_MOTOR_SLEW_MAX:
case PX4IO_P_SETUP_SBUS_RATE:
r_page_setup[offset] = value;
sbus1_set_output_rate_hz(value);
break;
case PX4IO_P_SETUP_MOTOR_SLEW_MAX:
case PX4IO_P_SETUP_THR_MDL_FAC:
update_mc_thrust_param = true;
r_page_setup[offset] = value;
break;