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change trim units from absolute usec to normalized values

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This commit is contained in:
Mark Whitehorn
2016-11-09 13:45:36 -07:00
committed by Lorenz Meier
parent d8528f46ce
commit dbc149c224
11 changed files with 48 additions and 51 deletions
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src/modules/systemlib/mixer/mixer.h
+1 -1
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@@ -338,7 +338,7 @@ public:
* Invoke the set_offset method of each mixer in the group
* for each value in page r_page_servo_control_trim
*/
unsigned set_trims(uint16_t *v, unsigned n);
unsigned set_trims(int16_t *v, unsigned n);
unsigned set_trim(float trim)
{
src/modules/systemlib/mixer/mixer_group.cpp
+9 -9
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@@ -112,21 +112,21 @@ MixerGroup::mix(float *outputs, unsigned space, uint16_t *status_reg)
return index;
}
/*
* set_trims() has no effect except for the SimpleMixer implementation for which set_trim()
* always returns the value one.
* The only other existing implementation is MultirotorMixer, which ignores the trim value
* and returns _rotor_count.
*/
unsigned
MixerGroup::set_trims(uint16_t *values, unsigned n)
MixerGroup::set_trims(int16_t *values, unsigned n)
{
Mixer *mixer = _first;
unsigned index = 0;
while ((mixer != nullptr) && (index < n)) {
/*
* hardwired assumption that PWM output range is [1000, 2000] usec
*
* This only works with SimpleMixer::set_trim(float) which always returns the value one,
* but the only other existing implementation is MultirotorMixer, which ignores
* the trim value.
*/
float offset = ((float)values[index] - 1500) / 500;
/* convert from integer to float */
float offset = (float)values[index] / 10000;
/* to be safe, clamp offset to range of [-100, 100] usec */
if (offset < -0.2f) { offset = -0.2f; }
src/modules/systemlib/pwm_limit/pwm_limit.c
+1 -9
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@@ -56,7 +56,7 @@ void pwm_limit_init(pwm_limit_t *limit)
}
void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_channels, const uint16_t reverse_mask,
const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const uint16_t *trim_pwm,
const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm,
const float *output, uint16_t *effective_pwm, pwm_limit_t *limit)
{
@@ -207,16 +207,8 @@ void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_c
control_value = -1.0f * control_value;
}
// if (trim_pwm[i] == 0) {
effective_pwm[i] = control_value * (max_pwm[i] - min_pwm[i]) / 2 + (max_pwm[i] + min_pwm[i]) / 2;
// } else if (control_value < 0) {
// effective_pwm[i] = control_value * (trim_pwm[i] - min_pwm[i]) + trim_pwm[i];
//
// } else {
// effective_pwm[i] = control_value * (max_pwm[i] - trim_pwm[i]) + trim_pwm[i];
// }
/* last line of defense against invalid inputs */
if (effective_pwm[i] < min_pwm[i]) {
effective_pwm[i] = min_pwm[i];
src/modules/systemlib/pwm_limit/pwm_limit.h
+1 -1
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@@ -73,7 +73,7 @@ __EXPORT void pwm_limit_init(pwm_limit_t *limit);
__EXPORT void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_channels,
const uint16_t reverse_mask, const uint16_t *disarmed_pwm,
const uint16_t *min_pwm, const uint16_t *max_pwm, const uint16_t *trim_pwm,
const uint16_t *min_pwm, const uint16_t *max_pwm,
const float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
__END_DECLS