dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

delete SYS_CTRL_ALLOC

This commit is contained in:
Daniel Agar 2022-08-24 18:19:51 -04:00
parent 13f9eabd70
commit 15fece7e14
17 changed files with 46 additions and 245 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
Tools/module_config/generate_actuators_metadata.py
View File

@ -482,7 +482,6 @@ if mixers is None:
actuators = {
'version': 1,
'show-ui-if': 'SYS_CTRL_ALLOC==1',
'outputs_v1': outputs,
'functions_v1': functions,
'mixer_v1': mixers,

14
Tools/module_config/generate_params.py
View File

@ -216,20 +216,6 @@ def get_actuator_output_params(yaml_config, output_functions,
all_params.update(timer_params)
output_groups.extend(timer_output_groups)
# In case of a board w/o IO and >8 PWM channels, pwm_out splits
# into 2 instances (if SYS_CTRL_ALLOC==0) and we need to add the
# PWM_AUX min/max/disarmed params as well.
num_channels = len(timer_groups['types'])
if not board_with_io and num_channels > 8:
output_groups.append(
{
'param_prefix': 'PWM_AUX',
'channel_label': 'PWM AUX',
'instance_start': 1,
'num_channels': num_channels - 8,
'standard_params': deepcopy(timer_output_groups[0]['standard_params'])
})
else:
raise Exception('unknown generator {:}'.format(group['generator']))
continue

3
boards/cuav/nora/init/rc.board_defaults
View File

@ -12,8 +12,5 @@ param set-default BAT2_A_PER_V 24
# Enable IMU thermal control
param set-default SENS_EN_THERMAL 1
# Set Camera trigger pins to 13/14
param set-default TRIG_PINS_EX 12288
rgbled_pwm start
safety_button start

4
boards/cuav/x7pro/init/rc.board_defaults
View File

@ -14,9 +14,5 @@ param set-default SENS_EN_THERMAL 1
param set-default SENS_TEMP_ID 6946850
# Set Camera trigger pins to 13/14
param set-default TRIG_PINS_EX 12288
rgbled_pwm start
safety_button start

1
msg/actuator_test.msg
View File

@ -1,7 +1,6 @@
uint64 timestamp # time since system start (microseconds)
# Topic to test individual actuator output functions
# Note: this is only used with SYS_CTRL_ALLOC=1
uint8 ACTION_RELEASE_CONTROL = 0 # exit test mode for the given function
uint8 ACTION_DO_CONTROL = 1 # enable actuator test mode

10
src/drivers/camera_capture/camera_capture.cpp
View File

@ -71,16 +71,7 @@ CameraCapture::CameraCapture() :
_p_camera_capture_edge = param_find("CAM_CAP_EDGE");
param_get(_p_camera_capture_edge, &_camera_capture_edge);
// get the capture channel from function configuration params
param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
int32_t ctrl_alloc = 0;
if (p_ctrl_alloc != PARAM_INVALID) {
param_get(p_ctrl_alloc, &ctrl_alloc);
}
if (ctrl_alloc == 1) {
_capture_channel = -1;
for (unsigned i = 0; i < 16 && _capture_channel == -1; ++i) {
@ -95,7 +86,6 @@ CameraCapture::CameraCapture() :
}
}
}
}
_trigger_pub.advertise();
}

38
src/drivers/camera_trigger/camera_trigger_params.c
View File

@ -127,44 +127,6 @@ PARAM_DEFINE_FLOAT(TRIG_ACT_TIME, 40.0f);
*/
PARAM_DEFINE_INT32(TRIG_MODE, 0);
/**
* Camera trigger pin
*
* Selects which FMU pin is used (range: AUX1-AUX8 on Pixhawk controllers with an I/O board,
* MAIN1-MAIN8 on controllers without an I/O board).
*
* The PWM interface takes two pins per camera, while relay
* triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6.
* For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will
* be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61.
* In GPIO mode the delay pin to pin is < .2 uS.
*
* @min 1
* @max 12345678
* @decimal 0
* @reboot_required true
* @group Camera trigger
*/
PARAM_DEFINE_INT32(TRIG_PINS, 56);
/**
* Camera trigger pin extended
*
* This Bit mask selects which FMU pin is used (range: AUX9-AUX32)
* If the value is not 0 it takes precedence over TRIG_PINS.
*
* If bits above 8 are set that value is used as the selector for trigger pins.
* greater then 8. 0x00000300 Would be Pins 9,10. If the value is
*
*
* @min 0
* @max 2147483647
* @decimal 0
* @reboot_required true
* @group Camera trigger
*/
PARAM_DEFINE_INT32(TRIG_PINS_EX, 0);
/**
* Camera trigger distance
*

62
src/drivers/camera_trigger/interfaces/src/camera_interface.cpp
View File

@ -42,15 +42,6 @@ void CameraInterface::get_pins()
_pins[i] = -1;
}
param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
int32_t ctrl_alloc = 0;
if (p_ctrl_alloc != PARAM_INVALID) {
param_get(p_ctrl_alloc, &ctrl_alloc);
}
if (ctrl_alloc == 1) {
unsigned pin_index = 0;
for (unsigned i = 0; i < 16 && pin_index < arraySize(_pins); ++i) {
@ -65,57 +56,4 @@ void CameraInterface::get_pins()
}
}
}
} else {
// Get parameter handle
param_t p_pin = param_find("TRIG_PINS");
param_t p_pin_ex = param_find("TRIG_PINS_EX");
if (p_pin == PARAM_INVALID && p_pin_ex == PARAM_INVALID) {
PX4_ERR("param TRIG_PINS not found");
return;
}
int32_t pin_list = 0;
int32_t pin_list_ex = 0;
if (p_pin_ex != PARAM_INVALID) {
param_get(p_pin_ex, &pin_list_ex);
}
if (p_pin != PARAM_INVALID) {
param_get(p_pin, &pin_list);
}
if (pin_list_ex == 0) {
// Convert number to individual channels
unsigned i = 0;
int single_pin;
while ((single_pin = pin_list % 10)) {
_pins[i] = single_pin - 1;
if (_pins[i] < 0) {
_pins[i] = -1;
}
pin_list /= 10;
i++;
}
} else {
unsigned int p = 0;
for (unsigned int i = 0; i < arraySize(_pins); i++) {
int32_t v = (pin_list_ex & (1 << i)) ? i : -1;
if (v > 0) {
_pins[p++] = v;
}
}
}
}
}

10
src/drivers/pps_capture/PPSCapture.cpp
View File

@ -63,15 +63,6 @@ bool PPSCapture::init()
{
bool success = false;
param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
int32_t ctrl_alloc = 0;
if (p_ctrl_alloc != PARAM_INVALID) {
param_get(p_ctrl_alloc, &ctrl_alloc);
}
if (ctrl_alloc == 1) {
for (unsigned i = 0; i < 16; ++i) {
char param_name[17];
snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
@ -84,7 +75,6 @@ bool PPSCapture::init()
}
}
}
}
#if defined(PPS_CAPTURE_CHANNEL)

5
src/lib/mixer_module/mixer_module.hpp
View File

@ -277,7 +277,6 @@ private:
perf_counter_t _control_latency_perf;
/* SYS_CTRL_ALLOC == 1 */
FunctionProviderBase *_function_allocated[MAX_ACTUATORS] {}; ///< unique allocated functions
FunctionProviderBase *_functions[MAX_ACTUATORS] {}; ///< currently assigned functions
OutputFunction _function_assignment[MAX_ACTUATORS] {};
@ -296,8 +295,6 @@ private:
DEFINE_PARAMETERS(
(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode, ///< multicopter air-mode
(ParamFloat<px4::params::MOT_SLEW_MAX>) _param_mot_slew_max,
(ParamFloat<px4::params::THR_MDL_FAC>) _param_thr_mdl_fac, ///< thrust to motor control signal modelling factor
(ParamBool<px4::params::SYS_CTRL_ALLOC>) _param_sys_ctrl_alloc
(ParamFloat<px4::params::THR_MDL_FAC>) _param_thr_mdl_fac ///< thrust to motor control signal modelling factor
)
};

3
src/lib/mixer_module/mixer_module_tests.cpp
View File

@ -63,9 +63,6 @@ public:
void SetUp() override
{
param_control_autosave(false);
int32_t v = 1;
param_set(param_find("SYS_CTRL_ALLOC"), &v);
}
int update(MixingOutput &mixing_output)

14
src/lib/systemlib/system_params.c
View File

@ -280,17 +280,3 @@ PARAM_DEFINE_INT32(SYS_BL_UPDATE, 0);
* @group System
*/
PARAM_DEFINE_INT32(SYS_FAILURE_EN, 0);
/**
* Enable Dynamic Control Allocation
*
* If disabled, the existing mixing implementation is used.
* If enabled, dynamic control allocation with runtime configuration of the
* mixing and output functions is used.
*
* @boolean
* @reboot_required true
* @group System
*/
PARAM_DEFINE_INT32(SYS_CTRL_ALLOC, 1);

15
src/modules/logger/logged_topics.cpp
View File

@ -208,19 +208,12 @@ void LoggedTopics::add_default_topics()
//add_optional_topic("vehicle_optical_flow_vel", 100);
add_optional_topic("pps_capture");
// SYS_CTRL_ALLOC: additional dynamic control allocation logging when enabled
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
_dynamic_control_allocation = sys_ctrl_alloc >= 1;
if (_dynamic_control_allocation) {
// additional control allocation logging
add_topic("actuator_motors", 100);
add_topic("actuator_servos", 100);
add_topic("vehicle_angular_acceleration", 20);
add_topic_multi("vehicle_thrust_setpoint", 20, 1);
add_topic_multi("vehicle_torque_setpoint", 20, 2);
}
// SYS_HITL: default ground truth logging for simulation
int32_t sys_hitl = 0;
@ -294,15 +287,9 @@ void LoggedTopics::add_high_rate_topics()
add_topic("vehicle_attitude_setpoint");
add_topic("vehicle_rates_setpoint");
if (_dynamic_control_allocation) {
add_topic("actuator_motors");
add_topic("vehicle_thrust_setpoint");
add_topic("vehicle_torque_setpoint");
} else {
add_topic("actuator_controls_0");
add_topic("actuator_outputs");
}
}
void LoggedTopics::add_debug_topics()

2
src/modules/logger/logged_topics.h
View File

@ -185,8 +185,6 @@ private:
RequestedSubscriptionArray _subscriptions;
int _num_mission_subs{0};
float _rate_factor{1.0f};
bool _dynamic_control_allocation{false};
};
} //namespace logger

18
src/modules/simulation/simulator_sih/sih.cpp
View File

@ -82,9 +82,7 @@ void Sih::run()
_vehicle = (VehicleType)constrain(_sih_vtype.get(), static_cast<typeof _sih_vtype.get()>(0),
static_cast<typeof _sih_vtype.get()>(2));
if (_sys_ctrl_alloc.get()) {
_actuator_out_sub = uORB::Subscription{ORB_ID(actuator_outputs_sim)};
}
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
lockstep_loop();
@ -369,12 +367,9 @@ void Sih::read_motors()
{
actuator_outputs_s actuators_out;
float pwm_middle = 0.5f * (PWM_DEFAULT_MIN + PWM_DEFAULT_MAX);
if (_actuator_out_sub.update(&actuators_out)) {
_last_actuator_output_time = actuators_out.timestamp;
if (_sys_ctrl_alloc.get()) {
for (int i = 0; i < NB_MOTORS; i++) { // saturate the motor signals
if ((_vehicle == VehicleType::FW && i < 3) || (_vehicle == VehicleType::TS && i > 3)) {
_u[i] = actuators_out.output[i];
@ -384,19 +379,6 @@ void Sih::read_motors()
_u[i] = _u[i] + _dt / _T_TAU * (u_sp - _u[i]); // first order transfer function with time constant tau
}
}
} else {
for (int i = 0; i < NB_MOTORS; i++) { // saturate the motor signals
if ((_vehicle == VehicleType::FW && i < 3) || (_vehicle == VehicleType::TS
&& i > 3)) { // control surfaces in range [-1,1]
_u[i] = constrain(2.0f * (actuators_out.output[i] - pwm_middle) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN), -1.0f, 1.0f);
} else { // throttle signals in range [0,1]
float u_sp = constrain((actuators_out.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN), 0.0f, 1.0f);
_u[i] = _u[i] + _dt / _T_TAU * (u_sp - _u[i]); // first order transfer function with time constant tau
}
}
}
}
}

3
src/modules/simulation/simulator_sih/sih.hpp
View File

@ -327,7 +327,6 @@ private:
(ParamFloat<px4::params::SIH_DISTSNSR_MAX>) _sih_distance_snsr_max,
(ParamFloat<px4::params::SIH_DISTSNSR_OVR>) _sih_distance_snsr_override,
(ParamFloat<px4::params::SIH_T_TAU>) _sih_thrust_tau,
(ParamInt<px4::params::SIH_VEHICLE_TYPE>) _sih_vtype,
(ParamBool<px4::params::SYS_CTRL_ALLOC>) _sys_ctrl_alloc
(ParamInt<px4::params::SIH_VEHICLE_TYPE>) _sih_vtype
)
};

2
src/systemcmds/actuator_test/actuator_test.cpp
View File

@ -73,8 +73,6 @@ static void usage(const char *reason)
R"DESCR_STR(
Utility to test actuators.
Note: this is only used in combination with SYS_CTRL_ALLOC=1.
WARNING: remove all props before using this command.
)DESCR_STR");