Implemented new command based counting of the atuators in the oneloop…

… controller
paparazzi · Apr 11, 2024 · 51cacb3 · 51cacb3
1 parent 8d7b838
commit 51cacb3
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Showing 3 changed files with 22 additions and 29 deletions.
diff --git a/conf/modules/oneloop_andi.xml b/conf/modules/oneloop_andi.xml
@@ -28,13 +28,7 @@
   <init fun="oneloop_andi_init()"/>
    <makefile target="ap|nps" firmware="rotorcraft">
     <file       name="oneloop_andi.c" dir="$(SRC_FIRMWARE)/oneloop"/>
-    <configure  name="ANDI_OUTPUTS" default="4"/>
-    <configure  name="ANDI_NUM_ACT" default="4"/>
-    <configure  name="ANDI_NUM_VIRTUAL_ACT" default="2"/>
-    <configure  name="ANDI_NUM_ACT_TOT" default="6"/>
+    <configure  name="ANDI_OUTPUTS" default="6"/>
     <define     name="ANDI_OUTPUTS" value="$(ANDI_OUTPUTS)"/>
-    <define     name="ANDI_NUM_ACT" value="$(ANDI_NUM_ACT)"/>
-    <define     name="ANDI_NUM_VIRTUAL_ACT" value="$(ANDI_NUM_VIRTUAL_ACT)"/>
-    <define     name="ANDI_NUM_ACT_TOT" value="$(ANDI_NUM_ACT_TOT)"/>
   </makefile> 
 </module>
diff --git a/sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c b/sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c
@@ -95,28 +95,6 @@
 #include <stdio.h>
 
 // Number of real actuators (e.g. motors, servos)
-#ifndef ANDI_NUM_ACT
-#error "You must specify the number of real actuators"
-#define ANDI_NUM_ACT 4
-#endif
-
-// Number of virtual actuators (e.g. Phi, Theta). For now 2 and only 2 are supported but in the future this can be further developed. 
-#if ANDI_NUM_VIRTUAL_ACT < 2
-#error "You must specify the number of virtual actuators to be at least 2"
-#define ANDI_NUM_VIRTUAL_ACT 2
-#endif
-
-// If the total number of actuators is not defined or wrongly defined correct it
-#if ANDI_NUM_ACT_TOT != (ANDI_NUM_ACT + ANDI_NUM_VIRTUAL_ACT)
-#error "The number of actuators is not equal to the sum of real and virtual actuators"
-#define ANDI_NUM_ACT_TOT (ANDI_NUM_ACT + ANDI_NUM_VIRTUAL_ACT)
-#endif
-
-#ifndef ANDI_OUTPUTS
-#error "You must specify the number of controlled axis (outputs)"
-#define ANDI_OUTPUTS 6
-#endif
-
 #ifndef ONELOOP_ANDI_NUM_THRUSTERS
 float num_thrusters_oneloop = 4.0; // Number of motors used for thrust
 #else

diff --git a/sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.h b/sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.h
@@ -29,7 +29,28 @@
 #include "firmwares/rotorcraft/stabilization.h"
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h"
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h"
+#include "generated/airframe.h"
 
+#ifndef ANDI_NUM_ACT
+#define ANDI_NUM_ACT COMMANDS_NB_REAL
+#endif
+
+#ifndef ANDI_NUM_VIRTUAL_ACT
+#define ANDI_NUM_VIRTUAL_ACT COMMANDS_NB_VIRTUAL
+#endif
+
+// Number of virtual actuators (e.g. Phi, Theta). For now 2 and only 2 are supported but in the future this can be further developed. 
+#if ANDI_NUM_VIRTUAL_ACT < 2
+#error "You must specify the number of virtual actuators to be at least 2"
+#define ANDI_NUM_VIRTUAL_ACT 2
+#endif
+
+#define ANDI_NUM_ACT_TOT (ANDI_NUM_ACT + ANDI_NUM_VIRTUAL_ACT)
+
+#ifndef ANDI_OUTPUTS
+#error "You must specify the number of controlled axis (outputs)"
+#define ANDI_OUTPUTS 6
+#endif
 #define ANDI_G_SCALING 1000.0f
 
 extern float act_state_filt_vect_1l[ANDI_NUM_ACT];