[motor_mixing] old supervision

- rename supervision to motor_mixing - split into a separated subsystem - pwm_supervision is now pwm direct + motor mixing
paparazzi · Oct 18, 2012 · cdbdf91 · cdbdf91
1 parent bb15ef1
commit cdbdf91
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Showing 19 changed files with 242 additions and 287 deletions.
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -29,6 +29,7 @@
     <subsystem name="actuators"     type="skiron">
       <define name="SKIRON_I2C_SCL_TIME" value="25"/>
     </subsystem>
+    <subsystem name="motor_mixing"/>
     <subsystem name="actuators"     type="direct">
       <define name="USE_PWM0"/>
     </subsystem>
@@ -41,10 +42,10 @@
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
-  <section name="SUPERVISION" prefix="SUPERVISION_">
-    <define name="TRIM_A" value="-50"/>
-    <define name="TRIM_E" value="-150"/>
-    <define name="TRIM_R" value="-100"/>
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TRIM_ROLL" value="-50"/>
+    <define name="TRIM_PITCH" value="-150"/>
+    <define name="TRIM_YAW" value="-100"/>
     <define name="NB_MOTOR" value="4"/>
     <define name="SCALE" value="256"/>
     <define name="ROLL_COEF"  value="{    0, -256,    0,  256}"/>
@@ -72,11 +73,11 @@
   </commands>
 
   <command_laws>
-    <call fun="supervision_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT" value="supervision.commands[SERVO_FRONT]"/>
-    <set servo="BACK" value="supervision.commands[SERVO_BACK]"/>
-    <set servo="RIGHT" value="supervision.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT" value="supervision.commands[SERVO_LEFT]"/>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
+    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">

diff --git a/conf/firmwares/subsystems/shared/actuators_asctec_v2.makefile b/conf/firmwares/subsystems/shared/actuators_asctec_v2.makefile
@@ -1,21 +1,12 @@
 # asctec controllers v2
 #
-#  <section name="SUPERVISION" prefix="SUPERVISION_">
-#    <define name="TRIM_A" value="2"/>
-#    <define name="TRIM_E" value="-1"/>
-#    <define name="TRIM_R" value="3"/>
-#    <define name="NB_MOTOR" value="4"/>
-#    <define name="SCALE" value="256"/>
-#    <define name="ROLL_COEF"   value="{    0,    0, -256,  256}"/>
-#    <define name="PITCH_COEF"  value="{ 256,  -256,    0,    0}"/>
-#    <define name="YAW_COEF"    value="{-256,  -256,  256,  256}"/>
-#    <define name="THRUST_COEF" value="{ 256,   256,  256,  256}"/>
-#  </section>
+# required xml configuration:
 #
+#  servo section with driver="Asctec"
+#  command_laws section to map motor_mixing commands to servos
 #
 
 $(TARGET).CFLAGS += -DACTUATORS
-ap.srcs += subsystems/actuators/supervision.c
 ap.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
 ap.srcs += subsystems/actuators/actuators_asctec.c
 
@@ -30,6 +21,5 @@ ap.CFLAGS += -DUSE_I2C1
 endif
 
 # Simulator
-nps.srcs += subsystems/actuators/supervision.c
 nps.srcs += subsystems/actuators/actuators_asctec.c
 nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_ASCTEC_DEVICE=i2c0
diff --git a/conf/firmwares/subsystems/shared/actuators_mkk.makefile b/conf/firmwares/subsystems/shared/actuators_mkk.makefile
@@ -17,22 +17,11 @@
 #    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
 #  </section>
 #
-#  <section name="SUPERVISION" prefix="SUPERVISION_">
-#    <define name="TRIM_A" value="2"/>
-#    <define name="TRIM_E" value="-1"/>
-#    <define name="TRIM_R" value="3"/>
-#    <define name="NB_MOTOR" value="4"/>
-#    <define name="SCALE" value="256"/>
-#    <define name="ROLL_COEF"  value="{    0,    0, -256,  256}"/>
-#    <define name="PITCH_COEF" value="{  256, -256,    0,    0}"/>
-#    <define name="YAW_COEF"   value="{ -256, -256,  256,  256}"/>
-#    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
-#  </section>
-#
+#  servo section with driver="Mkk"
+#  command_laws section to map motor_mixing commands to servos
 #
 
 $(TARGET).CFLAGS += -DACTUATORS
-ap.srcs += subsystems/actuators/supervision.c
 ap.srcs += subsystems/actuators/actuators_mkk.c
 
 ifeq ($(ARCH), lpc21)
@@ -51,6 +40,5 @@ ap.CFLAGS += -DUSE_I2C1
 endif
 
 # Simulator
-nps.srcs += subsystems/actuators/supervision.c
 nps.srcs += subsystems/actuators/actuators_mkk.c
 nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_MKK_DEVICE=i2c0
diff --git a/conf/firmwares/subsystems/shared/actuators_pwm_supervision.makefile b/conf/firmwares/subsystems/shared/actuators_pwm_supervision.makefile
diff --git a/conf/firmwares/subsystems/shared/actuators_skiron.makefile b/conf/firmwares/subsystems/shared/actuators_skiron.makefile
@@ -13,20 +13,8 @@
 #
 # required xml configuration:
 #
-#  <section name="SUPERVISION" prefix="SUPERVISION_">
-#    <define name="TRIM_A" value="0"/>
-#    <define name="TRIM_E" value="0"/>
-#    <define name="TRIM_R" value="0"/>
-#    <define name="NB_MOTOR" value="4"/>
-#    <define name="SCALE" value="256"/>
-#    <define name="ROLL_COEF"  value="{    0,    0, -256,  256}"/>
-#    <define name="PITCH_COEF" value="{  256, -256,    0,    0}"/>
-#    <define name="YAW_COEF"   value="{ -256, -256,  256,  256}"/>
-#    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
-#  </section>
-#
 #  servo section with driver="Skiron"
-#  command_laws section to map supervision commands to servos
+#  command_laws section to map motor_mixing commands to servos
 #
 
 # set default i2c timing if not already configured
@@ -35,7 +23,6 @@ SKIRON_I2C_SCL_TIME=150
 endif
 
 $(TARGET).CFLAGS += -DACTUATORS
-ap.srcs += subsystems/actuators/supervision.c
 ap.srcs += subsystems/actuators/actuators_skiron.c
 
 ifeq ($(ARCH), lpc21)
@@ -44,7 +31,6 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(SKIRON_I2C_SCL_TIME) -DI2C0_SCLH=$(SKIRON_
 endif
 
 # Simulator
-nps.srcs += subsystems/actuators/supervision.c
 nps.srcs += subsystems/actuators/actuators_skiron.c
 nps.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(SKIRON_I2C_SCL_TIME) -DI2C0_SCLH=$(SKIRON_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10 -DACTUATORS_SKIRON_DEVICE=i2c0
 
diff --git a/conf/firmwares/subsystems/shared/motor_mixing.makefile b/conf/firmwares/subsystems/shared/motor_mixing.makefile
@@ -0,0 +1,19 @@
+#  Motor Mixing
+#
+#  <section name="MIXING" prefix="MOTOR_MIXING_">
+#    <define name="TRIM_ROLL" value="2"/>
+#    <define name="TRIM_PITCH" value="-1"/>
+#    <define name="TRIM_YAW" value="3"/>
+#    <define name="NB_MOTOR" value="4"/>
+#    <define name="SCALE" value="256"/>
+#    <define name="ROLL_COEF"   value="{    0,    0, -256,  256}"/>
+#    <define name="PITCH_COEF"  value="{ 256,  -256,    0,    0}"/>
+#    <define name="YAW_COEF"    value="{-256,  -256,  256,  256}"/>
+#    <define name="THRUST_COEF" value="{ 256,   256,  256,  256}"/>
+#  </section>
+#
+#
+
+$(TARGET).CFLAGS += -DUSE_MOTOR_MIXING
+$(TARGET).srcs   += subsystems/actuators/motor_mixing.c
+
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
@@ -32,17 +32,6 @@
 #include "generated/airframe.h"
 #include "firmwares/rotorcraft/guidance/guidance_v_ref.h"
 
-/** Supervision default bounds
- *  In case Asctec controllers are used without supervision
- *  Used in control and adaptation filter
- * */
-#ifndef SUPERVISION_MIN_MOTOR
-#define SUPERVISION_MIN_MOTOR 1
-#endif
-#ifndef SUPERVISION_MAX_MOTOR
-#define SUPERVISION_MAX_MOTOR 200
-#endif
-
 #include "firmwares/rotorcraft/guidance/guidance_v_adpt.h"
 
 #define GUIDANCE_V_MODE_KILL      0

diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
@@ -37,6 +37,9 @@
 
 #include "firmwares/rotorcraft/commands.h"
 #include "subsystems/actuators.h"
+#if USE_MOTOR_MIXING
+#include "subsystems/actuators/motor_mixing.h"
+#endif
 
 #include "subsystems/imu.h"
 #include "subsystems/gps.h"
@@ -100,6 +103,10 @@ STATIC_INLINE void main_init( void ) {
   stateInit();
 
   actuators_init();
+#if USE_MOTOR_MIXING
+  motor_mixing_init();
+#endif
+
   radio_control_init();
 
 #if DATALINK == XBEE

diff --git a/sw/airborne/subsystems/actuators/actuators_asctec.c b/sw/airborne/subsystems/actuators/actuators_asctec.c
@@ -62,10 +62,6 @@ void actuators_asctec_init(void) {
   actuators_delay_time = 0;
 #endif
 
-#ifdef ACTUATORS_ASCTEC_V2_PROTOCOL
-  supervision_init();
-#endif
-
 }
 
 #ifndef ACTUATORS_ASCTEC_V2_PROTOCOL

diff --git a/sw/airborne/subsystems/actuators/actuators_asctec.h b/sw/airborne/subsystems/actuators/actuators_asctec.h
@@ -29,9 +29,6 @@
 #include "mcu_periph/i2c.h"
 
 #include "generated/airframe.h"
-#ifdef ACTUATORS_ASCTEC_V2_PROTOCOL
-#include "subsystems/actuators/supervision.h"
-#endif
 
 enum actuators_asctec_cmd { NONE,
                            TEST,

diff --git a/sw/airborne/subsystems/actuators/actuators_mkk.c b/sw/airborne/subsystems/actuators/actuators_mkk.c
@@ -38,7 +38,6 @@ bool_t   actuators_delay_done;
 
 void actuators_mkk_init(void) {
 
-  supervision_init();
   const uint8_t actuators_addr[ACTUATORS_MKK_NB] = ACTUATORS_MKK_ADDR;
   for (uint8_t i=0; i<ACTUATORS_MKK_NB; i++) {
     actuators_mkk.trans[i].type = I2CTransTx;

diff --git a/sw/airborne/subsystems/actuators/actuators_mkk.h b/sw/airborne/subsystems/actuators/actuators_mkk.h
@@ -30,7 +30,6 @@
 #include "mcu_periph/i2c.h"
 
 #include "generated/airframe.h"
-#include "subsystems/actuators/supervision.h"
 
 
 struct ActuatorsMkk {

diff --git a/sw/airborne/subsystems/actuators/actuators_pwm.c b/sw/airborne/subsystems/actuators/actuators_pwm.c
@@ -23,9 +23,6 @@
 
 void actuators_pwm_init(void)
 {
-#if USE_SUPERVISION
-  supervision_init();
-#endif
   // implemented in arch files
   actuators_pwm_arch_init();
 }

diff --git a/sw/airborne/subsystems/actuators/actuators_pwm.h b/sw/airborne/subsystems/actuators/actuators_pwm.h
@@ -28,10 +28,6 @@
 #include BOARD_CONFIG
 #include "subsystems/actuators/actuators_pwm_arch.h"
 
-#if USE_SUPERVISION
-#include "subsystems/actuators/supervision.h"
-#endif
-
 extern void actuators_pwm_init(void);
 
 #define ActuatorsPwmInit() actuators_pwm_init()

diff --git a/sw/airborne/subsystems/actuators/actuators_skiron.c b/sw/airborne/subsystems/actuators/actuators_skiron.c
@@ -37,7 +37,6 @@ bool_t   actuators_delay_done;
 
 void actuators_skiron_init(void) {
 
-  supervision_init();
   actuators_skiron.trans.type = I2CTransTx;
   actuators_skiron.trans.len_w = SERVOS_SKIRON_NB;
   actuators_skiron.trans.slave_addr = ACTUATORS_SKIRON_I2C_ADDR;

diff --git a/sw/airborne/subsystems/actuators/actuators_skiron.h b/sw/airborne/subsystems/actuators/actuators_skiron.h
@@ -30,8 +30,6 @@
 #include "mcu_periph/i2c.h"
 
 #include "generated/airframe.h"
-#include "subsystems/actuators/supervision.h"
-
 
 // Use I2C broadcast adderss
 #define ACTUATORS_SKIRON_I2C_ADDR 0x00