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Code Issues Releases Activity

OP-474: Add option to ActuatorSettings to allow people to request their propellers always spin an neutral when armed (I don't recommend this).

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This commit is contained in:
James Cotton 2011-05-03 00:08:39 -05:00
parent 9daca1ac41
commit 401a989c63
2 changed files with 10 additions and 19 deletions
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26
flight/Modules/Actuator/actuator.c
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@ -191,7 +191,11 @@ static void actuatorTask(void* parameters)
AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR); AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
bool armed = manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE; bool armed = manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE;
armed &= desired.Throttle > 0.00; //zero throttle stops the motors bool positiveThrottle = desired.Throttle >= 0.00;
bool spinWhileArmed = settings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE &&
manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE;
bool zeroMotors = !armed || (!spinWhileArmed && !positiveThrottle);
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1); float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2); float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
@ -201,15 +205,13 @@ static void actuatorTask(void* parameters)
{ {
status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT); status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
if(!armed && if(zeroMotors && mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
{ {
command.Channel[ct] = settings.ChannelMin[ct]; //force zero throttle command.Channel[ct] = settings.ChannelMin[ct]; //force zero throttle
filterAccumulator[ct] = 0; filterAccumulator[ct] = 0;
lastResult[ct] = 0; lastResult[ct] = 0;
}else } else {
{ // For motors when armed and throttle (or flag to keep spinning) keep above neutral
// For motors when armed keep above neutral
if((mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) && (status[ct] < 0)) if((mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) && (status[ct] < 0))
status[ct] = 0; status[ct] = 0;
@ -495,19 +497,7 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
return true; return true;
#if defined(PIOS_INCLUDE_I2C_ESC) #if defined(PIOS_INCLUDE_I2C_ESC)
case ACTUATORSETTINGS_CHANNELTYPE_MK: case ACTUATORSETTINGS_CHANNELTYPE_MK:
{
ManualControlCommandData manual;
ManualControlCommandGet(&manual);
/* Unfortunately MK controller take forever to start so keep */
/* them spinning when armed */
if(manual.Armed)
value = (value < 0) ? 1 : value;
else
value = 0;
return PIOS_SetMKSpeed(settings.ChannelAddr[mixer_channel],value); return PIOS_SetMKSpeed(settings.ChannelAddr[mixer_channel],value);
break;
}
case ACTUATORSETTINGS_CHANNELTYPE_ASTEC4: case ACTUATORSETTINGS_CHANNELTYPE_ASTEC4:
return PIOS_SetAstec4Speed(settings.ChannelAddr[mixer_channel],value); return PIOS_SetAstec4Speed(settings.ChannelAddr[mixer_channel],value);
break; break;

1
shared/uavobjectdefinition/actuatorsettings.xml
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@ -22,6 +22,7 @@
<field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/> <field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>
<field name="ChannelType" units="" type="enum" elements="8" options="PWM,MK,ASTEC4,PWM Alarm Buzzer" defaultvalue="PWM"/> <field name="ChannelType" units="" type="enum" elements="8" options="PWM,MK,ASTEC4,PWM Alarm Buzzer" defaultvalue="PWM"/>
<field name="ChannelAddr" units="" type="uint8" elements="8" defaultvalue="0,1,2,3,4,5,6,7"/> <field name="ChannelAddr" units="" type="uint8" elements="8" defaultvalue="0,1,2,3,4,5,6,7"/>
<field name="MotorsSpinWhileArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>