actuator.c File Reference

Actuator module. Drives the actuators (servos, motors etc). More...

#include <math.h>
#include "openpilot.h"
#include "actuatorsettings.h"
#include "systemsettings.h"
#include "actuatordesired.h"
#include "actuatorcommand.h"
#include "flightstatus.h"
#include "mixersettings.h"
#include "cameradesired.h"
#include "manualcontrolcommand.h"
#include "pios_thread.h"
#include "pios_queue.h"
#include "misc_math.h"

Go to the source code of this file.

Data Structures
struct	dshot_command

Macros
#define	MAX_QUEUE_SIZE   2
#define	STACK_SIZE_BYTES   1336
#define	TASK_PRIORITY   PIOS_THREAD_PRIO_HIGHEST
#define	FAILSAFE_TIMEOUT_MS   100
#define	MAX_MIX_ACTUATORS   ACTUATORCOMMAND_CHANNEL_NUMELEM
#define	MIXER_SCALE   128
#define	ACTUATOR_EPSILON   0.00001f
#define	DSHOT_COMMAND_DONTSPIN   0
#define	DSHOT_COMMAND_NO3DMODE   9
#define	DSHOT_COMMAND_3DMODE   10
#define	DSHOT_COUNT_EXCESSIVE   24
#define	compute_one_token_paste(b)   compute_one_mixer(b-1, &mixerSettings.Mixer ## b ## Vector, mixerSettings.Mixer ## b ## Type, scale_adjustment)
#define	DSHOT_DEADBAND_NORMAL   0
#define	DSHOT_DEADBAND_3D   1
#define	DSHOT_DEADBAND_3DREV   2

Functions
	DONT_BUILD_IF (ACTUATORSETTINGS_TIMERUPDATEFREQ_NUMELEM > PIOS_SERVO_MAX_BANKS, TooManyServoBanks)
	DONT_BUILD_IF (MAX_MIX_ACTUATORS > ACTUATORCOMMAND_CHANNEL_NUMELEM, TooManyMixers)
	DONT_BUILD_IF ((MIXERSETTINGS_MIXER1VECTOR_NUMELEM-MIXERSETTINGS_MIXER1VECTOR_ACCESSORY0)< MANUALCONTROLCOMMAND_ACCESSORY_NUMELEM, AccessoryMismatch)
static void	actuator_task (void *parameters)
	Main Actuator module task. More...
static float	scale_channel (float value, int idx, bool active_cmd)
static void	set_failsafe ()
static float	collective_curve (const float input, const float *curve, uint8_t num_points)
static bool	actuator_get_dshot_command (bool armed)
int	actuator_send_dshot_command (uint8_t cmd_id, uint8_t num_to_send, uint16_t channel_mask)
static int	actuator_send_dshot_command_now (uint8_t cmd_id, uint8_t num_to_send, uint16_t channel_mask)
int32_t	ActuatorStart ()
	Module initialization. More...
int32_t	ActuatorInitialize ()
	Module initialization. More...
	MODULE_HIPRI_INITCALL (ActuatorInitialize, ActuatorStart)
static float	get_curve2_source (ActuatorDesiredData *desired, SystemSettingsAirframeTypeOptions airframe_type, MixerSettingsCurve2SourceOptions source, float throttle_val)
static void	compute_one_mixer (int mixnum, int16_t(*vals)[MIXERSETTINGS_MIXER1VECTOR_NUMELEM], MixerSettingsMixer1TypeOptions type, float scale_adjustment)
static void	compute_mixer ()
static void	fill_desired_vector (ActuatorDesiredData *desired, float val1, float val2, float(*cmd_vector)[MIXERSETTINGS_MIXER1VECTOR_NUMELEM])
static void	post_process_scale_and_commit (float *motor_vect, float *desired_vect, float dT, bool armed, bool spin_while_armed, bool stabilize_now, bool flip_over_mode, float *maxpoweradd_bucket)
static void	normalize_input_data (uint32_t this_systime, float(*desired_vect)[MIXERSETTINGS_MIXER1VECTOR_NUMELEM], bool *armed, bool *spin_while_armed, bool *stabilize_now, bool *flip_over_mode)
static void	actuator_settings_update ()
static float	scale_channel_dshot (float value, int idx, bool active_command)
static float	channel_failsafe_value (int idx)

Variables
static struct pios_queue *	queue
static struct pios_thread *	taskHandle
static float	hangtime_leakybucket_timeconstant = 0.3f
static volatile bool	flight_status_updated = true
static volatile bool	manual_control_cmd_updated = true
static volatile bool	settings_updated = true
static MixerSettingsMixer1TypeOptions	types_mixer [MAX_MIX_ACTUATORS]
static float	motor_mixer [MAX_MIX_ACTUATORS *MIXERSETTINGS_MIXER1VECTOR_NUMELEM]
static ActuatorSettingsData	actuatorSettings
static SystemSettingsAirframeTypeOptions	airframe_type
static float	curve2 [MIXERSETTINGS_THROTTLECURVE2_NUMELEM]
static MixerSettingsCurve2SourceOptions	curve2_src
enum actuator_interlock	actuator_interlock = ACTUATOR_INTERLOCK_OK
struct dshot_command	__attribute__
static volatile struct dshot_command	pending_cmd
static struct dshot_command	cur_cmd
static uint16_t	desired_3d_mask

Detailed Description

Actuator module. Drives the actuators (servos, motors etc).

Author

dRonin, http://dRonin.org/, Copyright (C) 2015-2016

Tau Labs, http://taulabs.org, Copyright (C) 2013-2016

The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. Take the values in ActuatorDesired and mix to set the outputs

This module ultimately controls the outputs. The values from ActuatorDesired are combined based on the values in MixerSettings and then scaled by the values in ActuatorSettings to create the output PWM times.

See Also

The GNU Public License (GPL) Version 3

Definition in file actuator.c.

Macro Definition Documentation

#define DSHOT_DEADBAND_3D   1

#define DSHOT_DEADBAND_3DREV   2

#define DSHOT_DEADBAND_NORMAL   0