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https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
Flight: Made actuator a periodic task. I don't think the queue is low enough latency - should figure out how to make this happen as callback is the right way to go.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1589 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124
peabody124
parent
dceb20b16d
commit
8999355327
@ -86,11 +86,12 @@ int32_t ActuatorInitialize()
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*/
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static void actuatorTask(void* parameters)
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{
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UAVObjEvent ev;
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// UAVObjEvent ev;
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ActuatorSettingsData settings;
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SystemSettingsData sysSettings;
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ActuatorDesiredData desired;
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ActuatorCommandData cmd;
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portTickType lastSysTime;
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// Set servo update frequency (done only on start-up)
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ActuatorSettingsGet(&settings);
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@ -100,14 +101,15 @@ static void actuatorTask(void* parameters)
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setFailsafe();
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1)
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{
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// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
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if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
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/*if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
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{
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setFailsafe();
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continue;
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}
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}*/
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// Read settings
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ActuatorSettingsGet(&settings);
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@ -178,6 +180,10 @@ static void actuatorTask(void* parameters)
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{
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PIOS_Servo_Set( n, cmd.Channel[n] );
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}
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// Wait until next update
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vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS );
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}
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}
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@ -118,6 +118,7 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
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data.CCPMServoZ = 8;
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data.CCPMThrottle = 8;
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data.CCPMTailRotor = 8;
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data.UpdatePeriod = 5;
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data.ChannelUpdateFreq[0] = 50;
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data.ChannelUpdateFreq[1] = 50;
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data.ChannelMax[0] = 2000;
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@ -41,7 +41,7 @@
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#define ACTUATORSETTINGS_H
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// Object constants
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#define ACTUATORSETTINGS_OBJID 3352303420U
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#define ACTUATORSETTINGS_OBJID 562991684U
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#define ACTUATORSETTINGS_NAME "ActuatorSettings"
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#define ACTUATORSETTINGS_METANAME "ActuatorSettingsMeta"
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#define ACTUATORSETTINGS_ISSINGLEINST 1
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@ -101,6 +101,7 @@ typedef struct {
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uint8_t CCPMServoZ;
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uint8_t CCPMThrottle;
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uint8_t CCPMTailRotor;
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uint16_t UpdatePeriod;
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int16_t ChannelUpdateFreq[2];
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int16_t ChannelMax[8];
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int16_t ChannelNeutral[8];
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@ -187,6 +188,7 @@ typedef enum { ACTUATORSETTINGS_CCPMTHROTTLE_CHANNEL0=0, ACTUATORSETTINGS_CCPMTH
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// Field CCPMTailRotor information
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/* Enumeration options for field CCPMTailRotor */
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typedef enum { ACTUATORSETTINGS_CCPMTAILROTOR_CHANNEL0=0, ACTUATORSETTINGS_CCPMTAILROTOR_CHANNEL1=1, ACTUATORSETTINGS_CCPMTAILROTOR_CHANNEL2=2, ACTUATORSETTINGS_CCPMTAILROTOR_CHANNEL3=3, ACTUATORSETTINGS_CCPMTAILROTOR_CHANNEL4=4, ACTUATORSETTINGS_CCPMTAILROTOR_CHANNEL5=5, ACTUATORSETTINGS_CCPMTAILROTOR_CHANNEL6=6, ACTUATORSETTINGS_CCPMTAILROTOR_CHANNEL7=7, ACTUATORSETTINGS_CCPMTAILROTOR_NONE=8 } ActuatorSettingsCCPMTailRotorOptions;
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// Field UpdatePeriod information
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// Field ChannelUpdateFreq information
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/* Number of elements for field ChannelUpdateFreq */
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#define ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM 2
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@ -346,6 +346,9 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
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CCPMTailRotorEnumOptions.append("Channel7");
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CCPMTailRotorEnumOptions.append("None");
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fields.append( new UAVObjectField(QString("CCPMTailRotor"), QString("channel"), UAVObjectField::ENUM, CCPMTailRotorElemNames, CCPMTailRotorEnumOptions) );
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QStringList UpdatePeriodElemNames;
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UpdatePeriodElemNames.append("0");
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fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::UINT16, UpdatePeriodElemNames, QStringList()) );
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QStringList ChannelUpdateFreqElemNames;
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ChannelUpdateFreqElemNames.append("0");
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ChannelUpdateFreqElemNames.append("1");
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@ -451,6 +454,7 @@ void ActuatorSettings::setDefaultFieldValues()
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data.CCPMServoZ = 8;
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data.CCPMThrottle = 8;
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data.CCPMTailRotor = 8;
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data.UpdatePeriod = 5;
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data.ChannelUpdateFreq[0] = 50;
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data.ChannelUpdateFreq[1] = 50;
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data.ChannelMax[0] = 2000;
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@ -73,6 +73,7 @@ public:
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quint8 CCPMServoZ;
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quint8 CCPMThrottle;
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quint8 CCPMTailRotor;
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quint16 UpdatePeriod;
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qint16 ChannelUpdateFreq[2];
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qint16 ChannelMax[8];
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qint16 ChannelNeutral[8];
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@ -159,6 +160,7 @@ public:
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// Field CCPMTailRotor information
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/* Enumeration options for field CCPMTailRotor */
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typedef enum { CCPMTAILROTOR_CHANNEL0=0, CCPMTAILROTOR_CHANNEL1=1, CCPMTAILROTOR_CHANNEL2=2, CCPMTAILROTOR_CHANNEL3=3, CCPMTAILROTOR_CHANNEL4=4, CCPMTAILROTOR_CHANNEL5=5, CCPMTAILROTOR_CHANNEL6=6, CCPMTAILROTOR_CHANNEL7=7, CCPMTAILROTOR_NONE=8 } CCPMTailRotorOptions;
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// Field UpdatePeriod information
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// Field ChannelUpdateFreq information
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/* Number of elements for field ChannelUpdateFreq */
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static const quint32 CHANNELUPDATEFREQ_NUMELEM = 2;
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@ -174,7 +176,7 @@ public:
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// Constants
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static const quint32 OBJID = 3352303420U;
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static const quint32 OBJID = 562991684U;
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static const QString NAME;
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static const bool ISSINGLEINST = 1;
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static const bool ISSETTINGS = 1;
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@ -529,6 +529,16 @@ _fields = [ \
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'8' : 'None',
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}
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),
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uavobject.UAVObjectField(
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'UpdatePeriod',
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'H',
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1,
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[
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'0',
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],
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{
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}
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),
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uavobject.UAVObjectField(
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'ChannelUpdateFreq',
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'h',
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@ -596,7 +606,7 @@ _fields = [ \
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class ActuatorSettings(uavobject.UAVObject):
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## Object constants
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OBJID = 3352303420
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OBJID = 562991684
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NAME = "ActuatorSettings"
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METANAME = "ActuatorSettingsMeta"
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ISSINGLEINST = 1
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@ -31,6 +31,7 @@
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<field name="CCPMServoZ" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
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<field name="CCPMThrottle" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
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<field name="CCPMTailRotor" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
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<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="5"/>
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<field name="ChannelUpdateFreq" units="Hz" type="int16" elements="2" defaultvalue="50"/>
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<field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/>
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<field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/>
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