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implemented mapping between desired thrust and applied pwm in

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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/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;