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[actuators] first test with 2 drivers
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- actuators are now in signed int16 (need to check size again) (int32 ?)
- servo_switch module replaces booz_drop
- booz_pwm is now handled by actuators_direct
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@gautierhattenberger
gautierhattenberger committed Oct 15, 2012
1 parent 184b416 commit 38d3e71
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Showing 15 changed files with 33 additions and 277 deletions.
25 changes: 9 additions & 16 deletions conf/airframes/ENAC/quadrotor/booz2_g1.xml
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@@ -1,11 +1,8 @@
<airframe name="BOOZ2_G1">

<modules main_freq="512">
<!--load name="booz_pwm.xml">
<define name="USE_PWM1"/>
</load>
<load name="booz_drop.xml"/>
<load name="booz_cam.xml"/-->
<load name="servo_switch.xml"/>
<!--load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/-->
<!--load name="adc_generic_booz.xml"/-->
<!--load name="sys_mon.xml"/-->
Expand Down Expand Up @@ -54,22 +51,24 @@
</servos>

<servos driver="Pwm">
<servo name="CAM" no="0" min="1000" neutral="1500" max="2000"/>
<servo name="DROP" no="5" min="1000" neutral="1500" max="2000"/>
<servo name="CAM" no="5" min="1000" neutral="1500" max="2000"/>
<servo name="SWITCH" no="0" min="2120" neutral="1500" max="1060"/>
</servos>

<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
<axis name="SWITCH" failsafe_value="0"/>
</commands>

<command_laws>
<set servo="PITCH" value="@PITCH"/>
<set servo="ROLL" value="@ROLL"/>
<set servo="YAW" value="@YAW"/>
<set servo="PITCH" value="@PITCH - TRIM_PITCH"/>
<set servo="ROLL" value="@ROLL - TRIM_ROLL"/>
<set servo="YAW" value="@YAW - TRIM_YAW"/>
<set servo="THRUST" value="@THRUST"/>
<set servo="SWITCH" value="@SWITCH"/>
</command_laws>

<section name="IMU" prefix="IMU_">
Expand Down Expand Up @@ -230,12 +229,6 @@
<define name="SetPwm(_v)" value="BoozSetPwm1Value(_v)"/>
</section>

<section name="DROP">
<define name="DROP_SERVO_CLOSED" value="2120"/>
<define name="DROP_SERVO_OPEN" value="1060"/>
<!--define name="BoozDropPwm(_v)" value="BoozSetPwm0Value(_v)"/-->
</section>

<section name="MISC">
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="FACE_REINJ_1" value="1024"/>
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2 changes: 1 addition & 1 deletion conf/messages.xml
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Expand Up @@ -737,7 +737,7 @@
</message>

<message name="ACTUATORS" id="105">
<field name="values" type="uint16[]" unit="none"/>
<field name="values" type="int16[]" unit="none"/>
</message>

<message name="BETH" id="106">
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24 changes: 0 additions & 24 deletions conf/modules/booz_drop.xml
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22 changes: 0 additions & 22 deletions conf/modules/booz_pwm.xml
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12 changes: 8 additions & 4 deletions conf/modules/servo_switch.xml
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Expand Up @@ -5,7 +5,7 @@
<description>Servo switch</description>
<define name="SERVO_SWITCH_ON_VALUE" value="pwm" description="servo value in usec"/>
<define name="SERVO_SWITCH_OFF_VALUE" value="pwm" description="servo value in usec"/>
<define name="SERVO_SWITCH_SERVO" value="nb" description="Id of the servo to use"/>
<define name="SERVO_SWITCH_SERVO" value="nb" description="Id of the switch command (default: COMMAND_SWITCH)"/>
</doc>
<header>
<file name="servo_switch.h"/>
Expand All @@ -17,10 +17,14 @@
<!-- these parameters should be set for that module in the airframe file unless you want the defaults
Servo value in usec
<load name="servo_switch.xml">
<define name="SERVO_SWITCH_ON_VALUE" value="2000"/>
<define name="SERVO_SWITCH_OFF_VALUE" value="1000"/>
<define name="SERVO_SWITCH_SERVO" value="SERVO_SWITCH"/>
<define name="SERVO_SWITCH_ON_VALUE" value="MAX_PPRZ"/>
<define name="SERVO_SWITCH_OFF_VALUE" value="-MAX_PPRZ"/>
<define name="SERVO_SWITCH_SERVO" value="COMMAND_SWITCH"/>
</load>
The SWITCH servo, the SWITCH command and the command_law (usually <set servo="SWITCH" value="@SWITCH"/>
must be defined correctly
The min and max positions of the servo are defined in the servo section
-->

<file name="servo_switch.c"/>
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60 changes: 0 additions & 60 deletions sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.c
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46 changes: 0 additions & 46 deletions sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.h
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6 changes: 6 additions & 0 deletions sw/airborne/firmwares/rotorcraft/telemetry.h
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Expand Up @@ -136,6 +136,12 @@
#define PERIODIC_SEND_PPM(_trans, _dev) {}
#endif

#ifdef ACTUATORS
#define PERIODIC_SEND_ACTUATORS(_trans, _dev) DOWNLINK_SEND_ACTUATORS(_trans, _dev, ACTUATORS_NB, actuators)
#else
#define PERIODIC_SEND_ACTUATORS(_trans, _dev) {}
#endif

#define PERIODIC_SEND_IMU_GYRO_SCALED(_trans, _dev) { \
DOWNLINK_SEND_IMU_GYRO_SCALED(_trans, _dev, \
&imu.gyro.p, \
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54 changes: 0 additions & 54 deletions sw/airborne/modules/drop/booz_drop.c
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38 changes: 0 additions & 38 deletions sw/airborne/modules/drop/booz_drop.h
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9 changes: 3 additions & 6 deletions sw/airborne/modules/servo_switch/servo_switch.c
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@@ -1,6 +1,4 @@
/*
* $Id: $
*
* Copyright (C) 2010 Flixr
*
* This file is part of paparazzi.
Expand All @@ -23,10 +21,9 @@

#include "servo_switch/servo_switch.h"
#include "generated/airframe.h"
#include "actuators.h"
#include "firmwares/rotorcraft/commands.h"

bool_t servo_switch_on;
int16_t servo_switch_value;

void servo_switch_init(void) {
servo_switch_on = FALSE;
Expand All @@ -35,7 +32,7 @@ void servo_switch_init(void) {

void servo_switch_periodic(void) {
if (servo_switch_on == TRUE)
SetServo(SERVO_SWITCH_SERVO, SERVO_SWITCH_ON_VALUE)
commands[SERVO_SWITCH_SERVO] = SERVO_SWITCH_ON_VALUE;

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@flixr

flixr Oct 15, 2012

Member

Why change the servo_switch module to go via commands? It was meant to set a servo directly for ease of setup (without the need to define a command).
I don't see how going via commands is beneficial here, even if you change the command from somewhere else (e.g. radio_control), it would still be overwritten in the servo_switch_periodic.
Maybe make a separate command_switch module? Or does setting servos directly not work anymore now?

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@gautierhattenberger

gautierhattenberger Oct 16, 2012

Author Member

With the new organization, if you want to change directly, you have to know which driver is used, which makes this module not generic enough. By going through commands, it is the command_laws that takes care of using the correct servo (I'm still need to merge FW and Rotorcraft commands...).
If you prefer, I can directly set the actuator by using the actuator array, but in this case, the command_laws must not be used, and I need to set all actuators even if their is no command_law associated.

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@flixr

flixr Oct 16, 2012

Member

Ok. If we keep using the command, the module should probably be renamed to command_switch or something like that, since the behaviour is different to the old servo_switch....

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@gautierhattenberger

gautierhattenberger Oct 16, 2012

Author Member

Finally, I think I have a better solution that allow the servo_switch to directly set actuator a7f8881
else
SetServo(SERVO_SWITCH_SERVO, SERVO_SWITCH_OFF_VALUE)
commands[SERVO_SWITCH_SERVO] = SERVO_SWITCH_OFF_VALUE;
}

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