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Add confgenerator fix bugs

This commit is contained in:
Mitch Lustig 2019-08-08 23:39:14 -07:00
parent 14faa2e593
commit 2c41dda638
3 changed files with 40 additions and 6 deletions
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17
applications/app_balance.c
View File

@ -91,8 +91,8 @@ void app_balance_start(void) {
setpoint = 0;
setpoint_target = 0;
setpointAdjustmentType = STARTUP;
startup_step_size = (config.startup_speed / 1000) * config.loop_delay;
tiltback_step_size = (config.tiltback_speed / 1000) * config.loop_delay;
startup_step_size = 0;
tiltback_step_size = 0;
current_time = NULL;
last_time = NULL;
diff_time = NULL;
@ -162,6 +162,13 @@ static THD_FUNCTION(example_thread, arg) {
(void)arg;
chRegSetThreadName("APP_BALANCE");
// Do one off config
startup_step_size = (config.startup_speed / 1000) * config.loop_delay;
tiltback_step_size = (config.tiltback_speed / 1000) * config.loop_delay;
state = CALIBRATING;
setpointAdjustmentType = STARTUP;
while (!chThdShouldTerminateX()) {
// Update times
current_time = chVTGetSystemTimeX();
@ -231,12 +238,12 @@ static THD_FUNCTION(example_thread, arg) {
// Adjust setpoint
if(setpoint != setpoint_target){
// If we are less than one step size away, go all the way
if(fabs(setpoint_target - setpoint) < get_setpoint_adjustment_step_size){
if(fabs(setpoint_target - setpoint) < get_setpoint_adjustment_step_size()){
setpoint = setpoint_target;
}else if (setpoint_target - setpoint > 0){
setpoint += get_setpoint_adjustment_step_size;
setpoint += get_setpoint_adjustment_step_size();
}else{
setpoint -= get_setpoint_adjustment_step_size;
setpoint -= get_setpoint_adjustment_step_size();
}
}

27
confgenerator.c
View File

@ -230,6 +230,15 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
buffer_append_float32_auto(buffer, conf->app_balance_conf.roll_offset, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.pitch_fault, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.roll_fault, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.overspeed_duty, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_duty, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_angle, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_speed, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_pitch, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_roll, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_speed, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.deadzone, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.current_boost, &ind);
return ind;
}
@ -466,6 +475,15 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
conf->app_balance_conf.roll_offset = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.pitch_fault = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.roll_fault = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.overspeed_duty = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_duty = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_angle = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_speed = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.startup_pitch = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.startup_roll = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.startup_speed = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.deadzone = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.current_boost = buffer_get_float32_auto(buffer, &ind);
return true;
}
@ -686,4 +704,13 @@ void confgenerator_set_defaults_appconf(app_configuration *conf) {
conf->app_balance_conf.roll_offset = APPCONF_BALANCE_ROLL_OFFSET;
conf->app_balance_conf.pitch_fault = APPCONF_BALANCE_PITCH_FAULT;
conf->app_balance_conf.roll_fault = APPCONF_BALANCE_ROLL_FAULT;
conf->app_balance_conf.overspeed_duty = APPCONF_BALANCE_OVERSPEED_DUTY;
conf->app_balance_conf.tiltback_duty = APPCONF_BALANCE_TILTBACK_DUTY;
conf->app_balance_conf.tiltback_angle = APPCONF_BALANCE_TILTBACK_ANGLE;
conf->app_balance_conf.tiltback_speed = APPCONF_BALANCE_TILTBACK_SPEED;
conf->app_balance_conf.startup_pitch = APPCONF_BALANCE_STARTUP_PITCH;
conf->app_balance_conf.startup_roll = APPCONF_BALANCE_STARTUP_ROLL;
conf->app_balance_conf.startup_speed = APPCONF_BALANCE_STARTUP_SPEED;
conf->app_balance_conf.deadzone = APPCONF_BALANCE_DEADZONE;
conf->app_balance_conf.current_boost = APPCONF_BALANCE_CURRENT_BOOST;
}

2
confgenerator.h
View File

@ -9,7 +9,7 @@
// Constants
#define MCCONF_SIGNATURE 503309878
#define APPCONF_SIGNATURE 384122670
#define APPCONF_SIGNATURE 2685639154
// Functions
int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);