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Code Issues Releases Activity

OP-493: Use multiple instances when using multiple accessory channels

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This commit is contained in:
James Cotton 2011-06-04 12:52:36 -05:00
parent 1365542103
commit a1d60cb77d
3 changed files with 16 additions and 26 deletions
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32
flight/Modules/ManualControl/manualcontrol.c
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@ -76,7 +76,6 @@ static ArmState_t armState;
static portTickType lastSysTime;
// Private functions
static void updateAccessoryDesired(ManualControlCommandData * cmd);
static void updateActuatorDesired(ManualControlCommandData * cmd);
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
@ -268,10 +267,20 @@ static void manualControlTask(void *parameters)
cmd.Throttle = scaledChannel[settings.Throttle];
flightMode = scaledChannel[settings.FlightMode];
// Set accessory channels
cmd.Accessory1 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) ? scaledChannel[settings.Accessory1] : 0;
cmd.Accessory2 = (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) ? scaledChannel[settings.Accessory2] : 0;
cmd.Accessory3 = (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE) ? scaledChannel[settings.Accessory3] : 0;
AccessoryDesiredData accessory;
// Set Accessory 1
accessory.AccessoryVal = scaledChannel[settings.Accessory1];
if(AccessoryDesiredInstSet(0, &accessory) != 0)
AccessoryDesiredCreateInstance();
// Set Accessory 2
accessory.AccessoryVal = scaledChannel[settings.Accessory2];
if(AccessoryDesiredInstSet(1, &accessory) != 0)
AccessoryDesiredCreateInstance();
// Set Accsesory 3
accessory.AccessoryVal = scaledChannel[settings.Accessory3];
if(AccessoryDesiredInstSet(2, &accessory) != 0)
AccessoryDesiredCreateInstance();
processFlightMode(&settings, flightMode);
processArm(&cmd, &settings);
@ -296,30 +305,17 @@ static void manualControlTask(void *parameters)
break;
case FLIGHTMODE_MANUAL:
updateActuatorDesired(&cmd);
updateAccessoryDesired(&cmd);
break;
case FLIGHTMODE_STABILIZED:
updateStabilizationDesired(&cmd, &settings);
updateAccessoryDesired(&cmd);
break;
case FLIGHTMODE_GUIDANCE:
updateAccessoryDesired(&cmd);
// TODO: Implement
break;
}
}
}
static void updateAccessoryDesired(ManualControlCommandData * cmd)
{
AccessoryDesiredData accessory;
AccessoryDesiredGet(&accessory);
accessory.Accessory1 = cmd->Accessory1;
accessory.Accessory2 = cmd->Accessory2;
accessory.Accessory3 = cmd->Accessory3;
AccessoryDesiredSet(&accessory);
}
static void updateActuatorDesired(ManualControlCommandData * cmd)
{
ActuatorDesiredData actuator;

4
shared/uavobjectdefinition/accessorydesired.xml
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@ -1,9 +1,7 @@
<xml>
<object name="AccessoryDesired" singleinstance="true" settings="false">
<description>Desired Auxillary actuator settings. Comes from @ref ManualControlModule.</description>
<field name="Accessory1" units="%" type="float" elements="1"/>
<field name="Accessory2" units="%" type="float" elements="1" />
<field name="Accessory3" units="%" type="float" elements="1" />
<field name="AccessoryVal" units="" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>

6
shared/uavobjectdefinition/manualcontrolcommand.xml
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@ -6,11 +6,7 @@
<field name="Pitch" units="%" type="float" elements="1"/>
<field name="Yaw" units="%" type="float" elements="1"/>
<field name="Throttle" units="%" type="float" elements="1"/>
<field name="Accessory1" units="%" type="float" elements="1"/>
<field name="Accessory2" units="%" type="float" elements="1"/>
<field name="Accessory3" units="%" type="float" elements="1"/>
<field name="Channel" units="us" type="uint16" elements="8"/>
<field name="Channel" units="us" type="uint16" elements="8"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="2000"/>