Basic AM thread in SM #30
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lekangwang
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Aidan-B,
TheSpaceDragon,
Chrisc110 and
douglashuangg
- Added a function to RCControls struct to assign values from an existing object - Implemented basic SBUS input taking with SM - Updated CMAKE
- IWDG timeout is set to 1 second - Added MotorChannel drivers to CMake
…::outputToMotor handles it
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SystemManager/Src/SystemManager.cpp
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| if (this->rcInputs_.arm >= (SBUS_MAX/2)) { | ||
| am_input.roll = rcInputs_.roll; | ||
| am_input.pitch = rcInputs_.pitch; | ||
| am_input.yaw = rcInputs_.yaw; | ||
| am_input.throttle = rcInputs_.throttle; | ||
| AM::AttitudeManager::setControlInputs(am_input); | ||
| } else { | ||
| AM::AttitudeManager::setControlInputs(am_input); |
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Do you think we should add arm and disarm methods directly into AM, so as to ensure that we can't accidentally write some value to the motors if we are in a flight mode that does not just directly map the controller inputs?
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Are you saying we should add arm/disarm logic to AM::setControlInputs()? I'm guessing you want to disarm based on some flightmode property.
| watchdog_(&hiwdg), | ||
| am_instance_(config::flightmodes[config::DEFAULT_FLIGHTMODE].flightmodeConstructor()) | ||
| { | ||
| xTaskCreate(runAM, "AM Thread", 400U, (void*)&am_instance_, osPriorityNormal, &AM_handle_); |
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I can't remember if anything else needs to be done to start a task (I don't think so though...). Were you able to test this on hardware?
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This looks promising.
I'm running the AM thread at a period of 1 second and the set AM instructions thread at a period of 2 seconds (which simply increments the AM control struct using the static getter and setter methods defined in AM).
The AM thread runControlLoopIteration() seems to be picking up the new values at the regular interval.
| am_instance->runControlLoopIteration(AM::AttitudeManager::getControlInputs()); | ||
| vTaskDelayUntil(&xLastWakeTime, AM_PERIOD_MS); | ||
| } | ||
| } | ||
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| void SystemManager::flyManually() { | ||
| for(;;){ |
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Where would this be called? I imagine it would ideally run repeatedly at the same rate as runAM so that it has up-to-date control inputs.
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This is called in main.cpp when we create a SM thread that calls flyManually()
Description
What was completed, changed, or updated?
flyManually()SM member function to set throttle, yaw, pitch and roll via a setter to allow communication with AM which will operate the motors using PWM accordingly (via outputToMotor() method)runAM()function to runrunControlLoopIteration()at set frequencyWhy was this done (if applicable)?
Testing
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