From dcc9e29b66e13f9a11a3a50ac6261045d8d463ca Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 10 Nov 2015 23:02:54 +0100 Subject: [PATCH 1/3] Updated injected XML file --- Tools/parameters_injected.xml | 75 ++++++++++++++++------------------- 1 file changed, 34 insertions(+), 41 deletions(-) diff --git a/Tools/parameters_injected.xml b/Tools/parameters_injected.xml index a5b6bc0883..e1fc51c619 100644 --- a/Tools/parameters_injected.xml +++ b/Tools/parameters_injected.xml @@ -15,7 +15,7 @@ 0 1 - + Speed (RPM) controller gain Speed (RPM) controller gain. Determines controller aggressiveness; units are amp-seconds per radian. Systems with @@ -24,59 +24,53 @@ decreased. Higher values result in faster response, but may result in oscillation and excessive overshoot. Lower values result in a slower, smoother response. - amp-seconds per radian - 3 + amp-seconds per radian + 3 0.00 1.00 - + Idle speed (e Hz) Idle speed (e Hz) - Hertz - 3 + Hertz + 3 0.0 100.0 - + Spin-up rate (e Hz/s) Spin-up rate (e Hz/s) - Hz/s - + Hz/s 5 1000 - + Index of this ESC in throttle command messages. Index of this ESC in throttle command messages. - Index - + Index 0 15 - + Extended status ID Extended status ID - - 1 1023 - + Extended status interval (µs) Extended status interval (µs) - µs - + µs 0 1000000 - + ESC status interval (µs) ESC status interval (µs) - µs - + µs 1000000 - + Motor current limit in amps Motor current limit in amps. This determines the maximum current controller setpoint, as well as the maximum allowable @@ -84,62 +78,61 @@ the continuous current rating listed in the motor’s specification sheet, or set equal to the motor’s specified continuous power divided by the motor voltage limit. - Amps - 3 + Amps + 3 1 80 - + Motor Kv in RPM per volt Motor Kv in RPM per volt. This can be taken from the motor’s specification sheet; accuracy will help control performance but some deviation from the specified value is acceptable. - RPM/v - 0 + RPM/v + 0 0 100 READ ONLY: Motor inductance in henries. READ ONLY: Motor inductance in henries. This is measured on start-up. - henries - 3 + henries + 3 - + Number of motor poles. Number of motor poles. Used to convert mechanical speeds to electrical speeds. This number should be taken from the motor’s specification sheet. - Poles - + Poles 2 40 - + READ ONLY: Motor resistance in ohms READ ONLY: Motor resistance in ohms. This is measured on start-up. When tuning a new motor, check that this value is approximately equal to the value shown in the motor’s specification sheet. - Ohms - 3 + Ohms + 3 - + Acceleration limit (V) Acceleration limit (V) - Volts - 3 + Volts + 3 0.01 1.00 - + Motor voltage limit in volts Motor voltage limit in volts. The current controller’s commanded voltage will never exceed this value. Note that this may safely be above the nominal voltage of the motor; to determine the actual motor voltage limit, divide the motor’s rated power by the motor current limit. - Volts - 3 + Volts + 3 0 From 8ae78ab09353a7e67fde980a9c488ee0d893a01a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 11 Nov 2015 00:06:26 +0100 Subject: [PATCH 2/3] Params: Fix max range for injected params --- Tools/parameters_injected.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/parameters_injected.xml b/Tools/parameters_injected.xml index e1fc51c619..6cf856017c 100644 --- a/Tools/parameters_injected.xml +++ b/Tools/parameters_injected.xml @@ -55,7 +55,7 @@ Extended status ID Extended status ID 1 - 1023 + 1000000 Extended status interval (µs) From 40defeeceda22715a7ac4fabcdb6c0771d82aa28 Mon Sep 17 00:00:00 2001 From: Kabir Mohammed Date: Wed, 11 Nov 2015 15:35:55 +0530 Subject: [PATCH 3/3] commander : fix led reporting --- src/modules/commander/commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 3573f5d6eb..fc755437da 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -2536,7 +2536,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu } else if (status_local->battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) { rgbled_set_color(RGBLED_COLOR_RED); } else { - if (status_local->condition_home_position_valid) { + if (status_local->condition_home_position_valid && status_local->condition_global_position_valid) { rgbled_set_color(RGBLED_COLOR_GREEN); } else {