[modules] Rotating wing better ADC sensor integration (#3251)

* Make adc sensor mappable from the airframe. Better interface for adc in the rotwing state. * Added parameters to v3b airframe * Addressed the comments * Removed external variable
paparazzi · Apr 9, 2024 · afa9378 · afa9378
1 parent 25ec862
commit afa9378
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Showing 4 changed files with 30 additions and 5 deletions.
diff --git a/conf/airframes/tudelft/rot_wing_v3b.xml b/conf/airframes/tudelft/rot_wing_v3b.xml
@@ -40,7 +40,10 @@
                 <configure name="USE_TFMINI_AGL"  value="TRUE"/>
             </module>
 
-            <module name="wing_rotation_adc_sensor"/>
+            <module name="wing_rotation_adc_sensor">
+                <define name="ADC_WING_ROT_SCALE"  value="0.00247111"/>
+                <define name="ADC_WING_ROT_OFFSET" value="-25.635294"/>
+            </module>
 
             <!-- <module name="mavlink">
                 <configure name="MAVLINK_BAUD" value="B115200"/>

diff --git a/conf/modules/wing_rotation_adc_sensor.xml b/conf/modules/wing_rotation_adc_sensor.xml
@@ -13,6 +13,7 @@
     <configure name="ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION" default="ADC_5" case="lower|upper"/>
     <define name="ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION" value="$(ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION_UPPER)"/>
     <define name="USE_$(ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION_UPPER)"/>
+        <define name="ADC_WING_ROTATION" value="TRUE"/>
     <file name="wing_rotation_adc_sensor.c"/>
   </makefile>
 </module>
diff --git a/sw/airborne/modules/rot_wing_drone/rotwing_state.c b/sw/airborne/modules/rot_wing_drone/rotwing_state.c
@@ -105,6 +105,13 @@
 #define ROTWING_STATE_FW_PREF_PITCH 8.0
 #endif
 
+// stream ADC data if ADC rotation sensor
+#ifndef ADC_WING_ROTATION
+#define ADC_WING_ROTATION FALSE
+#endif
+#if ADC_WING_ROTATION
+#include "wing_rotation_adc_sensor.h"
+#endif
 /** ABI binding feedback data.
  */
 #ifndef ROTWING_STATE_ACT_FEEDBACK_ID

diff --git a/sw/airborne/modules/rot_wing_drone/wing_rotation_adc_sensor.c b/sw/airborne/modules/rot_wing_drone/wing_rotation_adc_sensor.c
@@ -39,21 +39,35 @@
 #define ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION_NB_SAMPLES 16
 #endif
 
-static struct adc_buf buf_wing_rot_pos;
+#ifndef ADC_WING_ROT_OFFSET 
+#error "ADC_WING_ROT_OFFSET not defined"
+#endif
+
+#ifndef ADC_WING_ROT_SCALE
+#error "ADC_WING_ROT_SCALE not defined"
+#endif
+
+#ifdef ADC_WING_ROT_OFFSET
+static float adc_offset = ADC_WING_ROT_OFFSET;
+#endif
+
+#ifdef ADC_WING_ROT_SCALE
+static float adc_scale = ADC_WING_ROT_SCALE;
+#endif
 
+static struct adc_buf buf_wing_rot_pos;
 // Initialization
 void wing_rotation_adc_init(void)
 {
   // ADC init
   adc_buf_channel(ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION, &buf_wing_rot_pos,
-                  ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION_NB_SAMPLES);
+                  ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION_NB_SAMPLES);    
 }
 
 void wing_rotation_adc_to_deg(void)
 {
   float adc_wing_rotation = buf_wing_rot_pos.sum / buf_wing_rot_pos.av_nb_sample;
-  float wing_angle_deg = 0.00247111 * adc_wing_rotation - 25.635294;
-
+  float wing_angle_deg = adc_scale * adc_wing_rotation + adc_offset;
 
   // SEND ABI Message to ctr_eff_sched and other modules that want Actuator position feedback
   struct act_feedback_t feedback = {0};