Merge 51cacb3 into d0f97e1

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>

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

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];

sw/tools/generators/gen_airframe.ml

@@ -31,7 +31,7 @@ open Printf
 open Xml2h
 
 type channel = { min : float; max : float; neutral : float }
-type control = { failsafe_value : int; foo : int }
+type control = { failsafe_value : int; foo : int; actuator_type : string}
 
 let fos = float_of_string
 let sof = fun x -> if mod_float x 1. = 0. then Printf.sprintf "%.0f" x else string_of_float x
@@ -337,9 +337,17 @@ let parse_ap_only_commands = fun out ap_only ->
 
 let parse_command = fun out command no ->
   let command_name = "COMMAND_"^ExtXml.attrib command "name" in
-  define_out out command_name (string_of_int no);
   let failsafe_value = int_of_string (ExtXml.attrib command "failsafe_value") in
-  { failsafe_value = failsafe_value; foo = 0}
+  let actuator_type = ExtXml.attrib_or_default command "actuator_type" "REAL" in 
+  define_out out command_name (string_of_int no);
+  { failsafe_value = failsafe_value; foo = 0 ; actuator_type = actuator_type }  
+
+let count_commands_by_type commands_params =
+  List.fold_left (fun acc cmd ->
+    let subtype = cmd.actuator_type in
+    let count = try List.assoc subtype acc with Not_found -> 0 in
+    (subtype, count + 1) :: (List.remove_assoc subtype acc)
+  ) [("REAL", 0); ("VIRTUAL", 0); ("PASSIVE", 0); ("OTHER", 0)] commands_params
 
 let parse_heli_curves = fun out heli_curves ->
   let a = fun s -> ExtXml.attrib heli_curves s in
@@ -387,6 +395,10 @@ let rec parse_section = fun out ac_id s ->
     | "commands" ->
       let commands = Array.of_list (Xml.children s) in
       let commands_params = Array.mapi (fun i c -> parse_command out c i) commands in
+      let commands_counts = count_commands_by_type (Array.to_list commands_params) in
+      List.iter (fun (subtype, count) ->
+        define_out out (sprintf "COMMANDS_NB_%s" subtype) (string_of_int count)
+      ) commands_counts;      
       define_out out "COMMANDS_NB" (string_of_int (Array.length commands));
       define_out out "COMMANDS_FAILSAFE" (sprint_float_array (List.map (fun x -> string_of_int x.failsafe_value) (Array.to_list commands_params)));
       fprintf out "\n\n"