Hide actuator driver number from code (#3206)

* Hide actuator internal driver number. Should never be used in code. * Bugfix ... these should not be actutator_driver numbers but INDI output numbers
paparazzi · Dec 15, 2023 · 4d8c690 · 4d8c690
1 parent fc047cf
commit 4d8c690
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Showing 2 changed files with 8 additions and 7 deletions.
diff --git a/sw/airborne/modules/ctrl/eff_scheduling_rot_wing.c b/sw/airborne/modules/ctrl/eff_scheduling_rot_wing.c
@@ -257,9 +257,10 @@ void eff_scheduling_rot_wing_update_MMOI(void)
 
 void eff_scheduling_rot_wing_update_cmd(void)
 {
-  eff_sched_var.cmd_elevator = actuators_pprz[SERVO_SERVO_ELEVATOR];
-  eff_sched_var.cmd_pusher_scaled = actuators_pprz[SERVO_MOTOR_PUSH] * 0.000853229; // Scaled with 8181 / 9600 / 1000
-  eff_sched_var.cmd_T_mean_scaled = (actuators_pprz[SERVO_MOTOR_FRONT] + actuators_pprz[SERVO_MOTOR_RIGHT] + actuators_pprz[SERVO_MOTOR_BACK] + actuators_pprz[SERVO_MOTOR_LEFT]) / 4. * 0.000853229; // Scaled with 8181 / 9600 / 1000
+  // These indexes depend on the INDI sequence, not the actuator IDX
+  eff_sched_var.cmd_elevator = actuators_pprz[5];
+  eff_sched_var.cmd_pusher_scaled = actuators_pprz[8] * 0.000853229; // Scaled with 8181 / 9600 / 1000
+  eff_sched_var.cmd_T_mean_scaled = (actuators_pprz[0] + actuators_pprz[1] + actuators_pprz[2] + actuators_pprz[3]) / 4. * 0.000853229; // Scaled with 8181 / 9600 / 1000
 }
 
 void eff_scheduling_rot_wing_update_airspeed(void)

diff --git a/sw/tools/generators/gen_airframe.ml b/sw/tools/generators/gen_airframe.ml
@@ -151,7 +151,7 @@ let print_reverse_servo_table = fun out driver servos ->
   fprintf out "  switch (_idx) {\n";
   List.iter (fun c ->
     let name = ExtXml.attrib c "name" in
-    fprintf out "    case SERVO_%s: return SERVO_%s_MIN;\n" name name;
+    fprintf out "    case SERVO_%s_DRIVER_NO: return SERVO_%s_MIN;\n" name name;
   ) servos;
   fprintf out "    default: return 0;\n";
   fprintf out "  };\n";
@@ -160,7 +160,7 @@ let print_reverse_servo_table = fun out driver servos ->
   fprintf out "  switch (_idx) {\n";
   List.iter (fun c ->
     let name = ExtXml.attrib c "name" in
-    fprintf out "    case SERVO_%s: return SERVO_%s_MAX;\n" name name;
+    fprintf out "    case SERVO_%s_DRIVER_NO: return SERVO_%s_MAX;\n" name name;
   ) servos;
   fprintf out "    default: return 0;\n";
   fprintf out "  };\n";
@@ -171,7 +171,7 @@ let parse_servo = fun out driver c ->
   let name = "SERVO_"^shortname
   and no_servo = int_of_string (ExtXml.attrib c "no") in
 
-  define_out out name (string_of_int no_servo);
+  define_out out (name^"_DRIVER_NO") (string_of_int no_servo);
 
   let s_min = fos (ExtXml.attrib c "min" )
   and neutral = fos (ExtXml.attrib c "neutral")
@@ -211,7 +211,7 @@ let print_actuators_idx = fun out ->
     (* Set servo macro *)
     fprintf out "#define Set_%s_Servo(_v) { \\\n" s;
     fprintf out "  actuators[SERVO_%s_IDX] = Clip(_v, SERVO_%s_MIN, SERVO_%s_MAX); \\\n" s s s;
-    fprintf out "  Actuator%sSet(SERVO_%s, actuators[SERVO_%s_IDX]); \\\n" d s s;
+    fprintf out "  Actuator%sSet(SERVO_%s_DRIVER_NO, actuators[SERVO_%s_IDX]); \\\n" d s s;
     fprintf out "}\n\n"
   ) servos_drivers;
   define_out out "ACTUATORS_NB" (string_of_int (Hashtbl.length servos_drivers));