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change main trims to normalized values

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This commit is contained in:
Mark Whitehorn
2016-11-09 15:05:30 -07:00
committed by Lorenz Meier
parent dbc149c224
commit f0b41a0e52
5 changed files with 65 additions and 57 deletions
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src/drivers/px4fmu/px4fmu_params.c
+6 -6
View File
@@ -111,7 +111,7 @@ PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);
/**
* Trim value for FMU PWM output channel 1
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min -0.2
* @max 0.2
@@ -123,7 +123,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM1, 0);
/**
* Trim value for FMU PWM output channel 2
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min -0.2
* @max 0.2
@@ -135,7 +135,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM2, 0);
/**
* Trim value for FMU PWM output channel 3
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min -0.2
* @max 0.2
@@ -147,7 +147,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM3, 0);
/**
* Trim value for FMU PWM output channel 4
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min -0.2
* @max 0.2
@@ -159,7 +159,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM4, 0);
/**
* Trim value for FMU PWM output channel 5
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min -0.2
* @max 0.2
@@ -171,7 +171,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM5, 0);
/**
* Trim value for FMU PWM output channel 6
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min -0.2
* @max 0.2
src/drivers/px4io/px4io.cpp
+5 -5
View File
@@ -1207,12 +1207,12 @@ PX4IO::task_main()
// update trim values
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
ret = io_reg_get(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, (uint16_t *)pwm_values.values, _max_actuators);
// memset(&pwm_values, 0, sizeof(pwm_values));
// ret = io_reg_get(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, (uint16_t *)pwm_values.values, _max_actuators);
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
int32_t ival;
float pval;
/* fetch the trim values from parameters */
sprintf(pname, "PWM_MAIN_TRIM%u", i + 1);
@@ -1220,8 +1220,8 @@ PX4IO::task_main()
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
pwm_values.values[i] = ival;
param_get(param_h, &pval);
pwm_values.values[i] = (int16_t)(10000 * pval);
}
}
src/drivers/px4io/px4io_params.c
+40 -32
View File
@@ -133,90 +133,98 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);
/**
* Trim value for main output channel 1
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM1, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM1, 0);
/**
* Trim value for main output channel 2
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM2, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM2, 0);
/**
* Trim value for main output channel 3
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM3, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM3, 0);
/**
* Trim value for main output channel 4
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM4, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM4, 0);
/**
* Trim value for main output channel 5
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM5, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM5, 0);
/**
* Trim value for main output channel 6
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM6, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM6, 0);
/**
* Trim value for main output channel 7
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM7, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM7, 0);
/**
* Trim value for main output channel 8
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM8, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM8, 0);
/**
* S.BUS out