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WIP Setting powerdistribution directly from setpoint message #2

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WIP Setting powerdistribution directly from setpoint message #2

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613a9d4
WIP Setting powerdistribution directly from setpoint message
Sep 26, 2017
017a1fa
Removed the emergency stop
colinjones22 Sep 27, 2017
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1 change: 1 addition & 0 deletions src/modules/interface/power_distribution.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
void powerDistributionInit(void);
bool powerDistributionTest(void);
void powerDistribution(const control_t *control);
void powerDistributionDirect(const setpoint_t *setpoint);
void powerStop();


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25 changes: 25 additions & 0 deletions src/modules/src/power_distribution_stock.c
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Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,31 @@ void powerDistribution(const control_t *control)
}
}


void powerDistributionDirect(const setpoint_t *setpoint)
{
// expects floats as thrust measure as percentage in the range 0 to 100.0
motorPower.m1 = limitThrust((int) (setpoint->motorControl.topLeft/100.0f * 65536));
motorPower.m2 = limitThrust((int) (setpoint->motorControl.topRight/100.0f * 65536));
motorPower.m3 = limitThrust((int) (setpoint->motorControl.bottomLeft/100.0f * 65536));
motorPower.m4 = limitThrust((int)(setpoint->motorControl.bottomRight/100.0f * 65536));
// TODO unsure what this flag does
if (motorSetEnable)
{
motorsSetRatio(MOTOR_M1, motorPowerSet.m1);
motorsSetRatio(MOTOR_M2, motorPowerSet.m2);
motorsSetRatio(MOTOR_M3, motorPowerSet.m3);
motorsSetRatio(MOTOR_M4, motorPowerSet.m4);
}
else
{
motorsSetRatio(MOTOR_M1, motorPower.m1);
motorsSetRatio(MOTOR_M2, motorPower.m2);
motorsSetRatio(MOTOR_M3, motorPower.m3);
motorsSetRatio(MOTOR_M4, motorPower.m4);
}
}

PARAM_GROUP_START(motorPowerSet)
PARAM_ADD(PARAM_UINT8, enable, &motorSetEnable)
PARAM_ADD(PARAM_UINT16, m1, &motorPowerSet.m1)
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18 changes: 11 additions & 7 deletions src/modules/src/stabilizer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -129,17 +129,21 @@ static void stabilizerTask(void* param)

commanderGetSetpoint(&setpoint, &state);

sitAwUpdateSetpoint(&setpoint, &sensorData, &state);
// Update of setpoint according to current state seems unnecessary
//sitAwUpdateSetpoint(&setpoint, &sensorData, &state);

stateController(&control, &setpoint, &sensorData, &state, tick);
// Seems also unnecessary but we could include some ramping or of course an actual controller
//stateController(&control, &setpoint, &sensorData, &state, tick);

checkEmergencyStopTimeout();

if (emergencyStop) {
powerStop();
} else {
powerDistribution(&control);
}
// if (emergencyStop) {
// powerStop();
// } else {
//FIXME I would maybe overload the power distribution directly on the setpoint_t struct
//powerDistribution(&control);
powerDistributionDirect(&setpoint);
// }

tick++;
}
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