fine-tune...

paparazzi · Nov 7, 2023 · 2228a14 · 2228a14
1 parent 6003201
commit 2228a14
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Showing 2 changed files with 6 additions and 8 deletions.
diff --git a/sw/airborne/modules/rot_wing_drone/wing_rotation_controller_servo.c b/sw/airborne/modules/rot_wing_drone/wing_rotation_controller_servo.c
@@ -145,16 +145,11 @@ void wing_rotation_compute_pprz_cmd(void)
 
   // Send to actuators
   int32_t servo_pprz_cmd;
-#if !USE_NPS
   servo_pprz_cmd = (int32_t)(wing_rotation_controller.wing_angle_virtual_deg_sp / 90. * (float)MAX_PPRZ);
   Bound(servo_pprz_cmd, 0, MAX_PPRZ);
   wing_rotation_controller.servo_pprz_cmd = servo_pprz_cmd;
-#else
-  servo_pprz_cmd = (int32_t)(wing_rotation_controller.wing_angle_deg_sp / 90. * (float)MAX_PPRZ);
-  Bound(servo_pprz_cmd, 0, MAX_PPRZ);
-  wing_rotation_controller.servo_pprz_cmd = servo_pprz_cmd;
-  actuators_pprz[INDI_NUM_ACT] = servo_pprz_cmd;
-#endif
+
+  actuators_pprz[SERVO_ROTATION_MECH] = servo_pprz_cmd;
 }
 
 
diff --git a/sw/airborne/modules/rot_wing_drone/wing_rotation_controller_servo.h b/sw/airborne/modules/rot_wing_drone/wing_rotation_controller_servo.h
@@ -34,7 +34,7 @@ extern void wing_rotation_event(void);
 
 // Paramaters
 struct wing_rotation_controller_t {
-  float wing_angle_deg;                       ///< Wing angle in degrees
+  float wing_angle_deg;                       ///< Wing angle measurement in degrees
   float wing_angle_deg_sp;                    ///< Wing angle setpoint in degrees
 
   int32_t servo_pprz_cmd;                     ///< Servo command in pprz
@@ -49,6 +49,9 @@ struct wing_rotation_controller_t {
   uint8_t init_loop_count;                    ///< Wing rotation controller initialization loop count
 };
 
+// Setters
+#define SetWingAngleDegSp(_wing_angle_deg_sp) (wing_rotation_controller.wing_angle_deg_sp = _wing_angle_deg_sp)
+
 extern struct wing_rotation_controller_t wing_rotation_controller;
 
 #endif  // WING_ROTATION_CONTROLLER_SERVO_H