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have 180 and 360 degree based control mode for center or bottom safestart.

This commit is contained in:
Teslafly 2022-04-11 00:12:00 -05:00
parent 2b6f731ccd
commit fa3eb7a084
2 changed files with 12 additions and 6 deletions
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15
applications/app_ppm.c
View File

@ -126,7 +126,7 @@ static THD_FUNCTION(ppm_thread, arg) {
case PPM_CTRL_TYPE_CURRENT_NOREV: case PPM_CTRL_TYPE_CURRENT_NOREV:
case PPM_CTRL_TYPE_DUTY_NOREV: case PPM_CTRL_TYPE_DUTY_NOREV:
case PPM_CTRL_TYPE_PID_NOREV: case PPM_CTRL_TYPE_PID_NOREV:
case PPM_CTRL_TYPE_PID_POSITION: case PPM_CTRL_TYPE_PID_POSITION_360:
input_val = servo_val; input_val = servo_val;
servo_val += 1.0; servo_val += 1.0;
servo_val /= 2.0; servo_val /= 2.0;
@ -333,18 +333,23 @@ static THD_FUNCTION(ppm_thread, arg) {
} }
break; break;
case PPM_CTRL_TYPE_PID_POSITION: case PPM_CTRL_TYPE_PID_POSITION_180: // -180 to 180. center ppm safestart
case PPM_CTRL_TYPE_PID_POSITION_360: // 0 to +360. minimum ppm safestart
if (fabsf(servo_val) < 0.001) { if (fabsf(servo_val) < 0.001) {
pulses_without_power++; pulses_without_power++;
} }
float angle = servo_val * 360; float angle;
if (config.ctrl_type = PPM_CTRL_TYPE_PID_POSITION_180){
angle = (servo_val * 180) + 180;
} else {
angle = (servo_val * 360);
}
if (!(pulses_without_power < MIN_PULSES_WITHOUT_POWER && config.safe_start)) { if (!(pulses_without_power < MIN_PULSES_WITHOUT_POWER && config.safe_start)) {
// try to more intelligently safe start by waiting until // try to more intelligently safe start by waiting until
// ppm "angle" is close to motor angle to go into position mode. // ppm "angle" is close to motor angle to go into position mode.
if (mc_interface_get_control_mode() != CONTROL_MODE_POS){ if (mc_interface_get_control_mode() != CONTROL_MODE_POS){
float angle_now = mc_interface_get_pid_pos_now(); if (fabsf(angle - mc_interface_get_pid_pos_now()) < 10) {
if (fabsf(angle - angle_now) < 10) {
// enable position control. // enable position control.
mc_interface_set_pid_pos(angle); mc_interface_set_pid_pos(angle);
} }

3
datatypes.h
View File

@ -556,7 +556,8 @@ typedef enum {
PPM_CTRL_TYPE_PID_NOREV, PPM_CTRL_TYPE_PID_NOREV,
PPM_CTRL_TYPE_CURRENT_BRAKE_REV_HYST, PPM_CTRL_TYPE_CURRENT_BRAKE_REV_HYST,
PPM_CTRL_TYPE_CURRENT_SMART_REV, PPM_CTRL_TYPE_CURRENT_SMART_REV,
PPM_CTRL_TYPE_PID_POSITION PPM_CTRL_TYPE_PID_POSITION_180,
PPM_CTRL_TYPE_PID_POSITION_360,
} ppm_control_type; } ppm_control_type;
typedef struct { typedef struct {