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Code Issues Releases Activity

OP-493: Add support to bypass the mixer and route accessory data straight to

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outputs.  Warning: This has no failsafes like arming.  We should discuss if
this is appropriate.

In addition accessory objects can be routed throught the mixer for collective
or flaperon.
This commit is contained in:
James Cotton 2011-06-04 15:31:06 -05:00
parent a1d60cb77d
commit 8ebd6a83d6
2 changed files with 47 additions and 13 deletions
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43
flight/Modules/Actuator/actuator.c
View File

@ -32,6 +32,7 @@
#include "openpilot.h" #include "openpilot.h"
#include "accessorydesired.h"
#include "actuator.h" #include "actuator.h"
#include "actuatorsettings.h" #include "actuatorsettings.h"
#include "systemsettings.h" #include "systemsettings.h"
@ -74,7 +75,6 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
static void setFailsafe(); static void setFailsafe();
static float MixerCurve(const float throttle, const float* curve); static float MixerCurve(const float throttle, const float* curve);
static bool set_channel(uint8_t mixer_channel, uint16_t value); static bool set_channel(uint8_t mixer_channel, uint16_t value);
float ProcessMixer(const int index, const float curve1, const float curve2, float ProcessMixer(const int index, const float curve1, const float curve2,
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
const float period); const float period);
@ -200,7 +200,32 @@ static void actuatorTask(void* parameters)
bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE; bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1); float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2); //The source for the secondary curve is selectable
float curve2;
AccessoryDesiredData accessory;
switch(mixerSettings.Curve2Source) {
case MIXERSETTINGS_CURVE2SOURCE_THROTTLE:
curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
break;
case MIXERSETTINGS_CURVE2SOURCE_ROLL:
curve2 = MixerCurve(desired.Roll,mixerSettings.ThrottleCurve2);
break;
case MIXERSETTINGS_CURVE2SOURCE_PITCH:
curve2 = MixerCurve(desired.Pitch,mixerSettings.ThrottleCurve2);
break;
case MIXERSETTINGS_CURVE2SOURCE_YAW:
curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2);
break;
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY2:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY3:
if(AccessoryDesiredInstGet(mixerSettings.Curve2Source - MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1,&accessory) == 0)
curve2 = MixerCurve(accessory.AccessoryVal,mixerSettings.ThrottleCurve2);
else
curve2 = 0;
break;
}
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++) for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
{ {
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) { if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
@ -228,7 +253,17 @@ static void actuatorTask(void* parameters)
(status[ct] < 0) ) (status[ct] < 0) )
status[ct] = 0; status[ct] = 0;
} }
// If an accessory channel is selected
if( (mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_ACCESSORY1) ||
(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_ACCESSORY2) ||
(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_ACCESSORY3)) {
if(AccessoryDesiredInstGet(mixerSettings.Curve2Source - MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1,&accessory) == 0)
status[ct] = accessory.AccessoryVal;
else
status[ct] = -1;
}
command.Channel[ct] = scaleChannel(status[ct], command.Channel[ct] = scaleChannel(status[ct],
ChannelMax[ct], ChannelMax[ct],
ChannelMin[ct], ChannelMin[ct],
@ -452,8 +487,6 @@ static void actuator_update_rate(UAVObjEvent * ev)
} }
} }
#if defined(ARCH_POSIX) || defined(ARCH_WIN32) #if defined(ARCH_POSIX) || defined(ARCH_WIN32)
static bool set_channel(uint8_t mixer_channel, uint16_t value) { static bool set_channel(uint8_t mixer_channel, uint16_t value) {
return true; return true;

17
shared/uavobjectdefinition/mixersettings.xml
View File

@ -6,22 +6,23 @@
<field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/> <field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
<field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/> <field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/> <field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
<field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Accessory1,Accessory2,Accessory3" defaultvalue="Disabled"/>
<field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/> <field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
<field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/> <field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory1,Accessory2,Accessory3" defaultvalue="Disabled"/>
<field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/> <field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/> <field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory1,Accessory2,Accessory3" defaultvalue="Disabled"/>
<field name="Mixer2Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/> <field name="Mixer2Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/> <field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory1,Accessory2,Accessory3" defaultvalue="Disabled"/>
<field name="Mixer3Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/> <field name="Mixer3Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/> <field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory1,Accessory2,Accessory3" defaultvalue="Disabled"/>
<field name="Mixer4Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/> <field name="Mixer4Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/> <field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory1,Accessory2,Accessory3" defaultvalue="Disabled"/>
<field name="Mixer5Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/> <field name="Mixer5Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/> <field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory1,Accessory2,Accessory3" defaultvalue="Disabled"/>
<field name="Mixer6Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/> <field name="Mixer6Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/> <field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory1,Accessory2,Accessory3" defaultvalue="Disabled"/>
<field name="Mixer7Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/> <field name="Mixer7Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/> <field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory1,Accessory2,Accessory3" defaultvalue="Disabled"/>
<field name="Mixer8Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/> <field name="Mixer8Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>