source: flair-src/trunk/lib/FlairFilter/src/X4X8Multiplex_impl.cpp@ 421

Last change on this file since 421 was 421, checked in by Sanahuja Guillaume, 21 months ago

add a permanent trim, usefull when uav is not well balanced (ie intel aero)

File size: 6.4 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2014/04/10
6// filename: X4X8Multiplex_impl.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class defining X4 and X8 multiplexing
14//
15//
16/*********************************************************************/
17
18#include "X4X8Multiplex_impl.h"
19#include "X4X8Multiplex.h"
20#include <Matrix.h>
21#include <Tab.h>
22#include <GridLayout.h>
23#include <GroupBox.h>
24#include <ComboBox.h>
25#include <DataPlot1D.h>
26#include <DoubleSpinBox.h>
27#include <math.h>
28
29#define MAX_MOTORS 8
30
31using std::string;
32using namespace flair::core;
33using namespace flair::gui;
34using namespace flair::filter;
35
36X4X8Multiplex_impl::X4X8Multiplex_impl(flair::filter::X4X8Multiplex *self,
37 int nb_mot) {
38 this->nb_mot = nb_mot;
39 this->self = self;
40
41 if (nb_mot == 4) {
42 GroupBox *groupbox =
43 new GroupBox(self->GetLayout()->NewRow(), "x4 multiplex");
44 pas = new ComboBox(groupbox->NewRow(), "front left blade pitch:");
45 } else {
46 GroupBox *groupbox =
47 new GroupBox(self->GetLayout()->NewRow(), "x8 multiplex");
48 pas = new ComboBox(groupbox->NewRow(), "top front left blade pitch:");
49 }
50 pas->AddItem("counter clockwise");
51 pas->AddItem("clockwise");
52
53 permanent_trim_roll=new DoubleSpinBox(self->GetLayout()->NewRow(), "permanent trim roll",-1, 1, 0.01);
54 permanent_trim_pitch=new DoubleSpinBox(self->GetLayout()->NewRow(), "permanent trim pitch",-1, 1, 0.01);
55
56 MatrixDescriptor *desc = new MatrixDescriptor(nb_mot, 1);
57 for (int i = 0; i < nb_mot; i++) {
58 desc->SetElementName(i, 0, MotorName(i));
59 }
60
61 output = new Matrix(self, desc, floatType);
62 delete desc;
63 self->AddDataToLog(output);
64}
65
66X4X8Multiplex_impl::~X4X8Multiplex_impl(void) {}
67
68void X4X8Multiplex_impl::UseDefaultPlot(void) {
69 Tab *plot_tab = new Tab(self->GetTabWidget(), "Values");
70 plots[0] = new DataPlot1D(plot_tab->NewRow(), "front left", 0, 1);
71 plots[1] = new DataPlot1D(plot_tab->LastRowLastCol(), "front right", 0, 1);
72 plots[2] = new DataPlot1D(plot_tab->NewRow(), "rear left", 0, 1);
73 plots[3] = new DataPlot1D(plot_tab->LastRowLastCol(), "rear right", 0, 1);
74
75 for (int i = 0; i < 4; i++)
76 plots[i]->AddCurve(output->Element(i));
77
78 if (nb_mot == 8) {
79 for (int i = 0; i < 4; i++)
80 plots[i]->AddCurve(output->Element(i + 4), DataPlot::Blue);
81 }
82}
83
84void X4X8Multiplex_impl::UpdateFrom(const io_data *data) {
85 float u_roll, u_pitch, u_yaw, u_thrust;
86 float trim_roll, trim_pitch, trim_yaw;
87 float value[MAX_MOTORS];
88
89 const Matrix* input = dynamic_cast<const Matrix*>(data);
90
91 if (!input) {
92 self->Warn("casting %s to Matrix failed\n",data->ObjectName().c_str());
93 return;
94 }
95
96 // on prend une fois pour toute le mutex et on fait des accès directs
97 input->GetMutex();
98
99 u_roll = input->ValueNoMutex(0, 0);
100 u_pitch = input->ValueNoMutex(1, 0);
101 u_yaw = input->ValueNoMutex(2, 0);
102 u_thrust = input->ValueNoMutex(3, 0);
103 trim_roll = input->ValueNoMutex(4, 0)+permanent_trim_roll->Value();
104 trim_pitch = input->ValueNoMutex(5, 0)+permanent_trim_pitch->Value();
105 trim_yaw = input->ValueNoMutex(6, 0);
106
107 input->ReleaseMutex();
108
109 if (pas->CurrentIndex() == 1) {
110 trim_yaw = -trim_yaw;
111 u_yaw = -u_yaw;
112 }
113
114 if (nb_mot == 2) {
115 //(top) front left
116 value[self->MultiplexValue(X4X8Multiplex::TopFrontLeft)] = Set(
117 trim_pitch + trim_roll + trim_yaw, u_thrust + u_pitch + u_roll + u_yaw);
118
119 //(top) front right
120 value[self->MultiplexValue(X4X8Multiplex::TopFrontRight)] = Set(
121 trim_pitch - trim_roll - trim_yaw, u_thrust + u_pitch - u_roll - u_yaw);
122 }
123 if (nb_mot == 4 || nb_mot == 8) {
124 //(top) front left
125 value[self->MultiplexValue(X4X8Multiplex::TopFrontLeft)] = Set(
126 trim_pitch + trim_roll + trim_yaw, u_thrust + u_pitch + u_roll + u_yaw);
127
128 //(top) front right
129 value[self->MultiplexValue(X4X8Multiplex::TopFrontRight)] = Set(
130 trim_pitch - trim_roll - trim_yaw, u_thrust + u_pitch - u_roll - u_yaw);
131
132 //(top) rear left
133 value[self->MultiplexValue(X4X8Multiplex::TopRearLeft)] =
134 Set(-trim_pitch + trim_roll - trim_yaw,
135 u_thrust - u_pitch + u_roll - u_yaw);
136
137 //(top) rear right
138 value[self->MultiplexValue(X4X8Multiplex::TopRearRight)] =
139 Set(-trim_pitch - trim_roll + trim_yaw,
140 u_thrust - u_pitch - u_roll + u_yaw);
141 }
142
143 if (nb_mot == 8) {
144 // bottom front left
145 value[self->MultiplexValue(X4X8Multiplex::BottomFrontLeft)] = Set(
146 trim_pitch + trim_roll - trim_yaw, u_thrust + u_pitch + u_roll - u_yaw);
147
148 // bottom front right
149 value[self->MultiplexValue(X4X8Multiplex::BottomFrontRight)] = Set(
150 trim_pitch - trim_roll + trim_yaw, u_thrust + u_pitch - u_roll + u_yaw);
151
152 // bottom rear left
153 value[self->MultiplexValue(X4X8Multiplex::BottomRearLeft)] =
154 Set(-trim_pitch + trim_roll + trim_yaw,
155 u_thrust - u_pitch + u_roll + u_yaw);
156
157 // bottom rear right
158 value[self->MultiplexValue(X4X8Multiplex::BottomRearRight)] =
159 Set(-trim_pitch - trim_roll - trim_yaw,
160 u_thrust - u_pitch - u_roll - u_yaw);
161 }
162
163 // on prend une fois pour toute le mutex et on fait des accès directs
164 output->GetMutex();
165 for (int i = 0; i < nb_mot; i++)
166 output->SetValueNoMutex(i, 0, value[i]);
167 output->ReleaseMutex();
168
169 output->SetDataTime(data->DataTime());
170
171 self->ProcessUpdate(output);
172}
173
174float X4X8Multiplex_impl::Set(float trim, float u) {
175 float value = trim;
176
177 if (u > 0) {
178 value += sqrtf(u);
179 }
180
181 return value;
182}
183
184string X4X8Multiplex_impl::MotorName(int index) {
185 switch (nb_mot) {
186 case 4: {
187 switch (index) {
188 case 0:
189 return "front left";
190 case 1:
191 return "front rigth";
192 case 2:
193 return "rear left";
194 case 3:
195 return "rear rigth";
196 default:
197 return "unammed motor";
198 }
199 }
200 case 8: {
201 switch (index) {
202 case 0:
203 return "top front left";
204 case 1:
205 return "top front rigth";
206 case 2:
207 return "top rear left";
208 case 3:
209 return "top rear rigth";
210 case 4:
211 return "bottom front left";
212 case 5:
213 return "bottom front rigth";
214 case 6:
215 return "bottom rear left";
216 case 7:
217 return "bottom rear rigth";
218 default:
219 return "unammed motor";
220 }
221 }
222 default: { return "unammed motor"; }
223 }
224}
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