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change main trims to normalized values

sbg
Mark Whitehorn 8 years ago committed by Lorenz Meier
parent
dbc149c224
commit
f0b41a0e52
5 changed files with 65 additions and 57 deletions
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  1. 2
      Tools/px4params/xmlout.py
  2. 12
      src/drivers/px4fmu/px4fmu_params.c
  3. 10
      src/drivers/px4io/px4io.cpp
  4. 72
      src/drivers/px4io/px4io_params.c
  5. 26
      src/modules/px4iofirmware/registers.c

2
Tools/px4params/xmlout.py
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@ -25,7 +25,7 @@ class XMLOutput(): @@ -25,7 +25,7 @@ class XMLOutput():
xml_version = ET.SubElement(xml_parameters, "parameter_version_major")
xml_version.text = "1"
xml_version = ET.SubElement(xml_parameters, "parameter_version_minor")
xml_version.text = "12"
xml_version.text = "13"
importtree = ET.parse(inject_xml_file_name)
injectgroups = importtree.getroot().findall("group")
for igroup in injectgroups:

12
src/drivers/px4fmu/px4fmu_params.c
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@ -111,7 +111,7 @@ PARAM_DEFINE_INT32(PWM_AUX_REV6, 0); @@ -111,7 +111,7 @@ PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);
/**
* Trim value for FMU PWM output channel 1
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min -0.2
* @max 0.2
@ -123,7 +123,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM1, 0); @@ -123,7 +123,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM1, 0);
/**
* Trim value for FMU PWM output channel 2
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min -0.2
* @max 0.2
@ -135,7 +135,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM2, 0); @@ -135,7 +135,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM2, 0);
/**
* Trim value for FMU PWM output channel 3
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min -0.2
* @max 0.2
@ -147,7 +147,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM3, 0); @@ -147,7 +147,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM3, 0);
/**
* Trim value for FMU PWM output channel 4
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min -0.2
* @max 0.2
@ -159,7 +159,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM4, 0); @@ -159,7 +159,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM4, 0);
/**
* Trim value for FMU PWM output channel 5
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min -0.2
* @max 0.2
@ -171,7 +171,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM5, 0); @@ -171,7 +171,7 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM5, 0);
/**
* Trim value for FMU PWM output channel 6
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min -0.2
* @max 0.2

10
src/drivers/px4io/px4io.cpp
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@ -1207,12 +1207,12 @@ PX4IO::task_main() @@ -1207,12 +1207,12 @@ PX4IO::task_main()
// update trim values
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
ret = io_reg_get(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, (uint16_t *)pwm_values.values, _max_actuators);
// memset(&pwm_values, 0, sizeof(pwm_values));
// ret = io_reg_get(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, (uint16_t *)pwm_values.values, _max_actuators);
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
int32_t ival;
float pval;
/* fetch the trim values from parameters */
sprintf(pname, "PWM_MAIN_TRIM%u", i + 1);
@ -1220,8 +1220,8 @@ PX4IO::task_main() @@ -1220,8 +1220,8 @@ PX4IO::task_main()
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
pwm_values.values[i] = ival;
param_get(param_h, &pval);
pwm_values.values[i] = (int16_t)(10000 * pval);
}
}

72
src/drivers/px4io/px4io_params.c
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@ -133,90 +133,98 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0); @@ -133,90 +133,98 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);
/**
* Trim value for main output channel 1
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM1, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM1, 0);
/**
* Trim value for main output channel 2
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM2, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM2, 0);
/**
* Trim value for main output channel 3
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM3, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM3, 0);
/**
* Trim value for main output channel 4
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM4, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM4, 0);
/**
* Trim value for main output channel 5
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM5, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM5, 0);
/**
* Trim value for main output channel 6
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM6, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM6, 0);
/**
* Trim value for main output channel 7
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM7, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM7, 0);
/**
* Trim value for main output channel 8
*
* Set to neutral period in usec
* Set to normalized offset
*
* @min 1400
* @max 1600
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_TRIM8, 1500);
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM8, 0);
/**
* S.BUS out

26
src/modules/px4iofirmware/registers.c
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@ -399,19 +399,19 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num @@ -399,19 +399,19 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* copy channel data */
while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
if (*values == 0) {
/* allow 0 - turns the trim option off */
r_page_servo_control_trim[offset] = 0;
} else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_control_trim[offset] = PWM_HIGHEST_MAX;
} else if (*values < PWM_LOWEST_MAX) {
r_page_servo_control_trim[offset] = PWM_LOWEST_MAX;
} else {
r_page_servo_control_trim[offset] = *values;
}
// if (*values == 0) {
// /* allow 0 - turns the trim option off */
// r_page_servo_control_trim[offset] = 0;
//
// } else if (*values > PWM_HIGHEST_MAX) {
// r_page_servo_control_trim[offset] = PWM_HIGHEST_MAX;
//
// } else if (*values < PWM_LOWEST_MAX) {
// r_page_servo_control_trim[offset] = PWM_LOWEST_MAX;
//
// } else {
r_page_servo_control_trim[offset] = *values;
// }
offset++;
num_values--;

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