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Code Issues Releases Activity

Flight/Les/Actuator: Space->Tab, somehow slipped passed previous patch

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1784 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-27 17:30:42 +00:00 committed by peabody124
parent 21278e7a0e
commit 9b1d258a94
1 changed files with 151 additions and 151 deletions
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302
flight/OpenPilot/Modules/Actuator/matrixmixer/Actuator/actuator.c
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@ -62,8 +62,8 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
static void setFailsafe();
static float MixerCurve(const float throttle, const float* curve);
float ProcessMixer(const int index, const float curve1, const float curve2,
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
const float period);
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
const float period);
/**
@ -74,13 +74,13 @@ int32_t ActuatorInitialize()
{
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for ExampleObject1 updates
ActuatorDesiredConnectQueue(queue);
// Start main task
xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
@ -89,39 +89,39 @@ int32_t ActuatorInitialize()
*/
static void actuatorTask(void* parameters)
{
// UAVObjEvent ev;
// UAVObjEvent ev;
portTickType lastSysTime;
ActuatorCommandData command;
ActuatorCommandData command;
ActuatorSettingsData settings;
// Set servo update frequency (done only on start-up)
ActuatorSettingsGet(&settings);
PIOS_Servo_SetHz(settings.ChannelUpdateFreq[0], settings.ChannelUpdateFreq[1]);
// Go to the neutral (failsafe) values until an ActuatorDesired update is received
setFailsafe();
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
ActuatorCommandGet(&command);
ActuatorSettingsGet(&settings);
if ( RunMixers(&command, &settings) == -1 )
{
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
}
else
{
AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
}
ActuatorSettingsGet(&settings);
if ( RunMixers(&command, &settings) == -1 )
{
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
}
else
{
AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
}
// Update output object
ActuatorCommandSet(&command);
// Update in case read only (eg. during servo configuration)
ActuatorCommandGet(&command);
// Update servo outputs
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
@ -129,7 +129,7 @@ static void actuatorTask(void* parameters)
}
// Wait until next update
vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS );
}
}
@ -147,8 +147,8 @@ static void actuatorTask(void* parameters)
//this structure is equivalent to the UAVObjects for one mixer.
typedef struct {
uint8_t type;
float matrix[5];
uint8_t type;
float matrix[5];
} __attribute__((packed)) Mixer_t;
@ -156,59 +156,59 @@ typedef struct {
static int32_t RunMixers(ActuatorCommandData* command, ActuatorSettingsData* settings)
{
SystemSettingsData sysSettings;
MixerSettingsData mixerSettings;
ActuatorDesiredData desired;
MixerStatusData mixerStatus;
SystemSettingsGet(&sysSettings);
MixerStatusGet(&mixerStatus);
MixerSettingsGet (&mixerSettings);
ActuatorDesiredGet(&desired);
float * status = (float *)&mixerStatus; //access status objects as an array of floats
SystemSettingsData sysSettings;
MixerSettingsData mixerSettings;
ActuatorDesiredData desired;
MixerStatusData mixerStatus;
SystemSettingsGet(&sysSettings);
MixerStatusGet(&mixerStatus);
MixerSettingsGet (&mixerSettings);
ActuatorDesiredGet(&desired);
float * status = (float *)&mixerStatus; //access status objects as an array of floats
int nMixers = 0;
Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer0Type;
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
{
if(mixers[ct].type != MIXERSETTINGS_MIXER0TYPE_DISABLED)
{
nMixers ++;
}
if(mixers[ct].type != MIXERSETTINGS_MIXER0TYPE_DISABLED)
{
nMixers ++;
}
}
if(nMixers < 2) //Nothing can fly with less than two mixers.
{
return(-1);
return(-1);
}
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
bool armed = manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE;
armed &= desired.Throttle > 0.05; //zero throttle stops the motors
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
{
if(mixers[ct].type != MIXERSETTINGS_MIXER0TYPE_DISABLED)
{
status[ct] = scaleChannel(ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, settings->UpdatePeriod),
settings->ChannelMax[ct],
settings->ChannelMin[ct],
settings->ChannelNeutral[ct]);
if(!armed &&
mixers[ct].type == MIXERSETTINGS_MIXER0TYPE_MOTOR)
{
command->Channel[ct] = settings->ChannelMin[ct]; //force zero throttle
}else
{
command->Channel[ct] = status[ct]; //servos always follow command
}
}
if(mixers[ct].type != MIXERSETTINGS_MIXER0TYPE_DISABLED)
{
status[ct] = scaleChannel(ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, settings->UpdatePeriod),
settings->ChannelMax[ct],
settings->ChannelMin[ct],
settings->ChannelNeutral[ct]);
if(!armed &&
mixers[ct].type == MIXERSETTINGS_MIXER0TYPE_MOTOR)
{
command->Channel[ct] = settings->ChannelMin[ct]; //force zero throttle
}else
{
command->Channel[ct] = status[ct]; //servos always follow command
}
}
}
MixerStatusSet(&mixerStatus);
return(0);
@ -216,97 +216,97 @@ static int32_t RunMixers(ActuatorCommandData* command, ActuatorSettingsData* set
/**
*Process mixing for one actuator
*/
*/
float ProcessMixer(const int index, const float curve1, const float curve2,
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
{
static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer0Type; //pointer to array of mixers in UAVObjects
Mixer_t * mixer = &mixers[index];
float result = (mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_THROTTLECURVE1] * curve1) +
(mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_THROTTLECURVE2] * curve2) +
(mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_ROLL] * desired->Roll) +
(mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_PITCH] * desired->Pitch) +
(mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_YAW] * desired->Yaw);
if(mixer->type == MIXERSETTINGS_MIXER0TYPE_MOTOR)
{
if(result < 0) //idle throttle
{
result = 0;
}
//feed forward
float accumulator = filterAccumulator[index];
accumulator += (result - lastResult[index]) * mixerSettings->FeedForward;
lastResult[index] = result;
result += accumulator;
if(accumulator > 0)
{
float filter = mixerSettings->AccelTime / period;
if(filter <1)
{
filter = 1;
}
accumulator -= accumulator / filter;
}else
{
float filter = mixerSettings->DecelTime / period;
if(filter <1)
{
filter = 1;
}
accumulator -= accumulator / filter;
}
filterAccumulator[index] = accumulator;
result += accumulator;
//acceleration limit
float dt = result - lastFilteredResult[index];
float maxDt = mixerSettings->MaxAccel * (period / 1000);
if(dt > maxDt) //we are accelerating too hard
{
result = lastFilteredResult[index] + maxDt;
}
lastFilteredResult[index] = result;
}
return(result);
static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer0Type; //pointer to array of mixers in UAVObjects
Mixer_t * mixer = &mixers[index];
float result = (mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_THROTTLECURVE1] * curve1) +
(mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_THROTTLECURVE2] * curve2) +
(mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_ROLL] * desired->Roll) +
(mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_PITCH] * desired->Pitch) +
(mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_YAW] * desired->Yaw);
if(mixer->type == MIXERSETTINGS_MIXER0TYPE_MOTOR)
{
if(result < 0) //idle throttle
{
result = 0;
}
//feed forward
float accumulator = filterAccumulator[index];
accumulator += (result - lastResult[index]) * mixerSettings->FeedForward;
lastResult[index] = result;
result += accumulator;
if(accumulator > 0)
{
float filter = mixerSettings->AccelTime / period;
if(filter <1)
{
filter = 1;
}
accumulator -= accumulator / filter;
}else
{
float filter = mixerSettings->DecelTime / period;
if(filter <1)
{
filter = 1;
}
accumulator -= accumulator / filter;
}
filterAccumulator[index] = accumulator;
result += accumulator;
//acceleration limit
float dt = result - lastFilteredResult[index];
float maxDt = mixerSettings->MaxAccel * (period / 1000);
if(dt > maxDt) //we are accelerating too hard
{
result = lastFilteredResult[index] + maxDt;
}
lastFilteredResult[index] = result;
}
return(result);
}
/**
*Interpolate a throttle curve. Throttle input should be in the range 0 to 1.
*Output is in the range 0 to 1.
*/
*/
#define MIXER_CURVE_ENTRIES 5
static float MixerCurve(const float throttle, const float* curve)
{
float scale = throttle * MIXER_CURVE_ENTRIES;
int idx1 = scale;
scale -= (float)idx1; //remainder
if(curve[0] < -1)
{
return(throttle);
}
if (idx1 < 0)
{
idx1 = 0; //clamp to lowest entry in table
scale = 0;
}
int idx2 = idx1 + 1;
if(idx2 >= MIXER_CURVE_ENTRIES)
{
idx2 = MIXER_CURVE_ENTRIES -1; //clamp to highest entry in table
if(idx1 >= MIXER_CURVE_ENTRIES)
{
idx1 = MIXER_CURVE_ENTRIES -1;
}
}
return((curve[idx1] * (1 - scale)) + (curve[idx2] * scale));
float scale = throttle * MIXER_CURVE_ENTRIES;
int idx1 = scale;
scale -= (float)idx1; //remainder
if(curve[0] < -1)
{
return(throttle);
}
if (idx1 < 0)
{
idx1 = 0; //clamp to lowest entry in table
scale = 0;
}
int idx2 = idx1 + 1;
if(idx2 >= MIXER_CURVE_ENTRIES)
{
idx2 = MIXER_CURVE_ENTRIES -1; //clamp to highest entry in table
if(idx1 >= MIXER_CURVE_ENTRIES)
{
idx1 = MIXER_CURVE_ENTRIES -1;
}
}
return((curve[idx1] * (1 - scale)) + (curve[idx2] * scale));
}
@ -325,7 +325,7 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
{
valueScaled = (int16_t)(value*((float)(neutral-min))) + neutral;
}
if (max>min)
{
if( valueScaled > max ) valueScaled = max;
@ -336,7 +336,7 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
if( valueScaled < max ) valueScaled = max;
if( valueScaled > min ) valueScaled = min;
}
return valueScaled;
}
@ -345,26 +345,26 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
*/
static void setFailsafe()
{
ActuatorCommandData command;
ActuatorCommandData command;
ActuatorSettingsData settings;
ActuatorCommandGet(&command);
ActuatorCommandGet(&command);
ActuatorSettingsGet(&settings);
// Reset ActuatorCommand to neutral values
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
command.Channel[n] = settings.ChannelNeutral[n];
}
// Set alarm
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
// Update servo outputs
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
PIOS_Servo_Set( n, command.Channel[n] );
}
// Update output object
ActuatorCommandSet(&command);
}
@ -372,5 +372,5 @@ static void setFailsafe()
/**
* @}
* @}
*/
* @}
*/