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AP_Torqeedo: fixups from peer review

This commit is contained in:
Randy Mackay 2021-10-18 14:14:48 +09:00
parent 1bdfe8ad55
commit 90f7e15bcb
2 changed files with 13 additions and 16 deletions
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27
libraries/AP_Torqeedo/AP_Torqeedo.cpp
View File

@ -32,7 +32,6 @@
#define TORQEEDO_SEND_MOTOR_PARAM_REQUEST_INTERVAL_MS 400 // motor param requested every 0.4sec if connected to motor
#define TORQEEDO_BATT_TIMEOUT_MS 5000 // battery info timeouts after 5 seconds
#define TORQEEDO_REPLY_TIMEOUT_MS 25 // stop waiting for replies after 25ms
#define TORQEEDO_ERROR_REPORT_INTERVAL_MIN_MS 1000 // errors reported to user at no more than once per second
#define TORQEEDO_ERROR_REPORT_INTERVAL_MAX_MS 10000 // errors reported to user at no less than once every 10 seconds
extern const AP_HAL::HAL& hal;
@ -81,8 +80,8 @@ const AP_Param::GroupInfo AP_Torqeedo::var_info[] = {
AP_GROUPINFO("POWER", 5, AP_Torqeedo, _motor_power, 100),
// @Param: SLEW_TIME
// @DisplayName: Torqeedo Slew Time
// @Description: Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100%. A value of zero disables the limit
// @DisplayName: Torqeedo Throttle Slew Time
// @Description: Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100%. Higher values cause a slower response, lower values cause a faster response. A value of zero disables the limit
// @Units: s
// @Range: 0 5
// @Increment: 0.1
@ -287,17 +286,13 @@ void AP_Torqeedo::report_error_codes()
{
// skip reporting if we have already reported status very recently
const uint32_t now_ms = AP_HAL::millis();
const uint32_t diff_ms = now_ms - _last_error_report_ms;
if (diff_ms < TORQEEDO_ERROR_REPORT_INTERVAL_MIN_MS) {
return;
}
// skip reporting if no changes in flags and already reported within 10 seconds
const bool flags_changed = (_display_system_state_flags_prev.value != _display_system_state.flags.value) ||
(_display_system_state_master_error_code_prev != _display_system_state.master_error_code) ||
(_motor_status_prev.status_flags_value != _motor_status.status_flags_value) ||
(_motor_status_prev.error_flags_value != _motor_status.error_flags_value);
if (!flags_changed && (diff_ms < TORQEEDO_ERROR_REPORT_INTERVAL_MAX_MS)) {
if (!flags_changed && ((now_ms - _last_error_report_ms) < TORQEEDO_ERROR_REPORT_INTERVAL_MAX_MS)) {
return;
}
@ -313,7 +308,7 @@ void AP_Torqeedo::report_error_codes()
gcs().send_text(MAV_SEVERITY_CRITICAL, "%s batt nearly empty", msg_prefix);
}
if (_display_system_state.master_error_code > 0) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "%s err:%d", msg_prefix, _display_system_state.master_error_code);
gcs().send_text(MAV_SEVERITY_CRITICAL, "%s err:%u", msg_prefix, _display_system_state.master_error_code);
}
// report motor status errors
@ -452,7 +447,7 @@ bool AP_Torqeedo::parse_byte(uint8_t b)
// process message held in _received_buff
void AP_Torqeedo::parse_message()
{
// message address (e.g. target of message)
// message address (i.e. target of message)
const MsgAddress msg_addr = (MsgAddress)_received_buff[0];
// handle messages sent to "remote" (aka tiller)
@ -492,11 +487,13 @@ void AP_Torqeedo::parse_message()
_display_system_state.last_update_ms = AP_HAL::millis();
// update esc telem sent to ground station
const uint8_t esc_temp = MAX(_display_system_state.temp_sw, _display_system_state.temp_rp);
const uint8_t motor_temp = MAX(_display_system_state.motor_pcb_temp, _display_system_state.motor_stator_temp);
update_esc_telem(_display_system_state.motor_rpm,
_display_system_state.motor_voltage,
_display_system_state.motor_current,
MAX(_display_system_state.temp_sw, _display_system_state.temp_rp), // esc temp
MAX(_display_system_state.motor_pcb_temp, _display_system_state.motor_stator_temp)); // motor temp
esc_temp,
motor_temp);
// log data
if ((_options & options::LOG) != 0) {
@ -521,7 +518,7 @@ void AP_Torqeedo::parse_message()
_display_system_state.motor_current,
_display_system_state.motor_power,
_display_system_state.motor_rpm,
MAX(_display_system_state.motor_pcb_temp, _display_system_state.motor_stator_temp),
motor_temp,
_display_system_state.batt_charge_pct,
_display_system_state.batt_voltage,
_display_system_state.batt_current);
@ -535,7 +532,7 @@ void AP_Torqeedo::parse_message()
(double)_display_system_state.motor_voltage,
(double)_display_system_state.motor_current,
(double)_display_system_state.motor_power,
MAX(_display_system_state.motor_pcb_temp, _display_system_state.motor_stator_temp),
(int)motor_temp,
(unsigned)_display_system_state.batt_charge_pct,
(double)_display_system_state.batt_voltage,
(double)_display_system_state.batt_current);
@ -888,7 +885,7 @@ int16_t AP_Torqeedo::calc_motor_speed_limited(int16_t desired_motor_speed)
const uint32_t now_ms = AP_HAL::millis();
// update dir_limit flag for forward-reverse transition delay
const bool dir_delay_active = (_dir_delay > 0);
const bool dir_delay_active = is_positive(_dir_delay);
if (!dir_delay_active) {
// allow movement in either direction
_dir_limit = 0;

2
libraries/AP_Torqeedo/AP_Torqeedo.h
View File

@ -15,7 +15,7 @@
/*
This driver supports communicating with Torqeedo motors that implement the "TQ Bus" protocol
which includes the Ultralight, Cruise 2.0 R, Cruise 4.0 R, Travel 503, Travel 1003 and CRuise 10kW
which includes the Ultralight, Cruise 2.0 R, Cruise 4.0 R, Travel 503, Travel 1003 and Cruise 10kW
The autopilot should be connected either to the battery's tiller connector or directly to the motor
as described on the ArduPilot wiki. https://ardupilot.org/rover/docs/common-torqeedo.html