actuators[ ] array of structs with pprz units and driver units #3205
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dewagter
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fvantienen and
EwoudSmeur
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The issue with this (actuators in pprz_t) is that the actuators message is now also in pprz_t. So if you need to read the actuators position to adjust the trim (which should be in "driver" unit), you will have a good chance to make errors doing the conversion or just forgetting to convert it to the correct scale. |
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Agreed |
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dewagter
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Changed to actuator struct. If you have naming recommendations let me know. This should allow us to simulate actuators directly now in I didn't change it yet because the actuator indexes often do not match and requires some harmonization (see #3203) |
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… when sending to the actuator_driver. actuators becomes an array
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| @@ -72,7 +79,7 @@ extern int16_t actuators_pprz[ACTUATORS_NB]; | |||
| * @param _n actuators name as given in airframe file, servos section | |||
| * @param _v new actuator's value | |||
| */ | |||
| #define _ActuatorSet(_n, _v) Set_ ## _n ## _Servo(_v) | |||
| #define _ActuatorSet(_n, _v) Set_ ## _n ## _Servo(_v,_v) | |||
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Here you pass the value _v twice, but they should be pprz and driver values. It seems that something is wrong. We either do the mapping pprz to driver should be done in Set_XXX_Servo functions (and they take pprz inputs), or we store the pprz_val before calling this function (and they take driver inputs as it is currently the case).
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This macro is weird indeed and points to an inconsistency in the project: it is used in code that sets actuator values directly: e.g. switch servo sets the actuator to 1200 us. The correct way would be to put it to MAX_PPRZ. I can harmonize that.
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I'm in favor of harmonizing the servo setter with PPRZ values. It would make the code actuator independent.
| struct actuator_t { | ||
| pprz_t pprz_val; ///< Actuator value in PPRZ units | ||
| int16_t driver_val; ///< Actuator value in driver units (scaling from servo in airframe.h) | ||
| }; |
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This is nice to have an actuator structure, and it could / should hold even more information, like the type of actuators, the status, its position or speed if measured, etc. Should we start already with this (and maybe change it later again), or already try to add future elements, even if not used yet ?
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It is very easy to add things later. I'd rather only add variables while that are used.
In this PR, as a first step, my goal is to be able to run the simulator directly from actuators everywhere (both INDI and rotorcraft)
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But I agree the rpm/position feedback could move to this struct a.s.a.p.
Anybody able to help?
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I was planing to do this after finishing the reorganization of stabilization, if I can finish that someday...
| <dl_setting VAR="actuators[5]" MIN="900" STEP="1" MAX="2100" shortname="chan5"/> | ||
| <dl_setting VAR="actuators[6]" MIN="900" STEP="1" MAX="2100" shortname="chan6"/> | ||
| <dl_setting VAR="actuators[7]" MIN="900" STEP="1" MAX="2100" shortname="chan7"/> | ||
| <dl_setting VAR="actuators[0].driver_val" MIN="900" STEP="1" MAX="2100" module="modules/actuators/actuators" shortname="chan0"/> |
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It would be nice to have a getter function or macro for that, in case the structure is modified in the future
In simulation / NPS, we would like to simulate all actuators. The
actuators[ ]array can not be used because it has different units: e.g. PWM 1100 - 1900.With the new system of sending actuators to different actuator drivers, the conversion to actuator_driver units is best done when sending to the actuator_driver.
actuators_pprzis not needed.