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fmu fix MAIN/AUX parameters #9925

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merged 3 commits into from
Jul 17, 2018
Merged

fmu fix MAIN/AUX parameters #9925

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b239df6
FMU PWM parameters respect instance for MAIN/AUX usage
dagar Jul 16, 2018
9099128
PWM parameters centralize under sensors and add aux 7&8
dagar Jul 16, 2018
a195f19
FMU relocate MOT_SLEW_MAX and THR_MDL_FAC parameters centrally
dagar Jul 16, 2018
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42 changes: 30 additions & 12 deletions src/drivers/px4fmu/fmu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -509,8 +509,6 @@ PX4FMU::init()
/* initialize PWM limit lib */
pwm_limit_init(&_pwm_limit);

update_pwm_rev_mask();

#ifdef RC_SERIAL_PORT

# ifdef RF_RADIO_POWER_CONTROL
Expand All @@ -533,12 +531,6 @@ PX4FMU::init()
// Getting initial parameter values
update_params();

for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
sprintf(pname, "PWM_AUX_TRIM%d", i + 1);
param_find(pname);
}

return 0;
}

Expand Down Expand Up @@ -922,15 +914,28 @@ PX4FMU::update_pwm_rev_mask()
{
_reverse_pwm_mask = 0;

const char *pname_format;

if (_class_instance == CLASS_DEVICE_PRIMARY) {
pname_format = "PWM_MAIN_REV%d";

} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
pname_format = "PWM_AUX_REV%d";

} else {
PX4_ERR("PWM REV only for MAIN and AUX");
return;
}

for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
int32_t ival;

/* fill the channel reverse mask from parameters */
sprintf(pname, "PWM_AUX_REV%d", i + 1);
sprintf(pname, pname_format, i + 1);
param_t param_h = param_find(pname);

if (param_h != PARAM_INVALID) {
int32_t ival = 0;
param_get(param_h, &ival);
_reverse_pwm_mask |= ((int16_t)(ival != 0)) << i;
}
Expand All @@ -946,15 +951,28 @@ PX4FMU::update_pwm_trims()

int16_t values[_max_actuators] = {};

const char *pname_format;

if (_class_instance == CLASS_DEVICE_PRIMARY) {
pname_format = "PWM_MAIN_TRIM%d";

} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
pname_format = "PWM_AUX_TRIM%d";

} else {
PX4_ERR("PWM TRIM only for MAIN and AUX");
return;
}

for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
float pval;

/* fill the struct from parameters */
sprintf(pname, "PWM_AUX_TRIM%d", i + 1);
sprintf(pname, pname_format, i + 1);
param_t param_h = param_find(pname);

if (param_h != PARAM_INVALID) {
float pval = 0.0f;
param_get(param_h, &pval);
values[i] = (int16_t)(10000 * pval);
PX4_DEBUG("%s: %d", pname, values[i]);
Expand Down
159 changes: 0 additions & 159 deletions src/drivers/px4fmu/px4fmu_params.c
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Original file line number Diff line number Diff line change
Expand Up @@ -31,165 +31,6 @@
*
****************************************************************************/

/**
* Invert direction of aux output channel 1
*
* Enable to invert the channel.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);

/**
* Invert direction of aux output channel 2
*
* Enable to invert the channel.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);

/**
* Invert direction of aux output channel 3
*
* Enable to invert the channel.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);

/**
* Invert direction of aux output channel 4
*
* Enable to invert the channel.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);

/**
* Invert direction of aux output channel 5
*
* Enable to invert the channel.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);

/**
* Invert direction of aux output channel 6
*
* Enable to invert the channel.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);

/**
* Trim value for FMU PWM output channel 1
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM1, 0);

/**
* Trim value for FMU PWM output channel 2
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM2, 0);

/**
* Trim value for FMU PWM output channel 3
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM3, 0);

/**
* Trim value for FMU PWM output channel 4
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM4, 0);

/**
* Trim value for FMU PWM output channel 5
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM5, 0);

/**
* Trim value for FMU PWM output channel 6
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM6, 0);

/**
* Thrust to PWM model parameter
*
* Parameter used to model the relationship between static thrust and motor
* input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
*
* @min 0.0
* @max 1.0
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);

/**
* Minimum motor rise time (slew rate limit).
*
* Minimum time allowed for the motor input signal to pass through
* a range of 1000 PWM units. A value x means that the motor signal
* can only go from 1000 to 2000 PWM in maximum x seconds.
*
* Zero means that slew rate limiting is disabled.
*
* @min 0.0
* @unit s/(1000*PWM)
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);

/**
* Motor Ordering
*
Expand Down
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