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Code Issues Releases Activity

OP-1683 - Actuator uses "standard" 1000-2000 range and remap it to 125-250 just before sending to servo to prevent any impact on gcs and other blocks

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This commit is contained in:
Alessio Morale 2015-01-24 13:37:00 +01:00
parent 2a10d9d481
commit dcc9a5b7dc
1 changed files with 17 additions and 17 deletions
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34
flight/modules/Actuator/actuator.c
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@ -425,21 +425,10 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
// will be set except explicitly disabled (which will have PWM pulse = 0).
for (int i = 0; i < MAX_MIX_ACTUATORS; i++) {
if (command.Channel[i]) {
uint8_t mode = pinsMode[actuatorSettings.ChannelAddr[i]];
switch (mode) {
case ACTUATORSETTINGS_BANKMODE_PWM:
case ACTUATORSETTINGS_BANKMODE_ONESHOT:
command.Channel[i] = scaleChannel(status[i],
actuatorSettings.ChannelMax[i],
actuatorSettings.ChannelMin[i],
actuatorSettings.ChannelNeutral[i]);
break;
case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
command.Channel[i] = scaleChannel(status[i],
249,
125,
126);
}
command.Channel[i] = scaleChannel(status[i],
actuatorSettings.ChannelMax[i],
actuatorSettings.ChannelMin[i],
actuatorSettings.ChannelNeutral[i]);
}
}
@ -743,7 +732,18 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSet
return true;
case ACTUATORSETTINGS_CHANNELTYPE_PWM:
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value);
{
uint8_t mode = pinsMode[actuatorSettings->ChannelAddr[mixer_channel]];
switch (mode) {
case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
// Quick way to remap of 1000-2000 range to 125-250
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value / 8);
break;
default:
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value);
break;
}
}
return true;
#if defined(PIOS_INCLUDE_I2C_ESC)
@ -797,7 +797,7 @@ static void actuator_update_rate_if_changed(const ActuatorSettingsData *actuator
PIOS_SERVO_BANK_MODE_SINGLE_PULSE
);
if (actuatorSettings->BankMode[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
freq[i] = 1000000 / 250; // force a total period of 250uSec
freq[i] = 1000000 / 255; // force a total period of 255uSec
} else {
freq[i] = actuatorSettings->BankUpdateFreq[i];
}