Merge remote-tracking branch 'refs/remotes/origin/master' into PID

UAV-ControlSystem/src/drivers/motormix.c

@@ -44,10 +44,10 @@ uint16_t motor_output[MOTOR_COUNT];
 /* Default values for the mixerConfig */
 // TODO: Implement in EEPROM
 mixerConfig_s mixerConfig = {
-	.minThrottle = 1000,
+	.minThrottle = 1050,
-	.maxThrottle = 2000,
+	.maxThrottle = 1950,
-	.minCommand = 1050,
+	.minCommand = 1000,
-	.maxCommand = 1950,
+	.maxCommand = 2000,
 	.minCheck = 1010,
 	.pid_at_min_throttle = true,
 	.motorstop = false,
@@ -122,7 +122,7 @@ void mix()
 		}
 
 
-		uint16_t throttleRange = mixerConfig.maxThrottle - mixerConfig.minThrottle; // The throttle range we have with current defines
+		uint16_t throttleRange = mixerConfig.maxCommand - mixerConfig.minThrottle; // The throttle range we have with current defines
 		uint16_t RPY_MixRange = RPY_Mix_Max - RPY_Mix_Min; // Range of the desired mixer outputs
 		uint16_t throttleMin = mixerConfig.minThrottle;	// Import system variable
 		uint16_t throttleMax = mixerConfig.maxThrottle; // Import
@@ -156,7 +156,7 @@ void mix()
 		for (int i = 0; i < MOTOR_COUNT; i++)
 		{
 			// Constrain in within the regulation of the mix
-			motor_output[i] = RPY_Mix[i] + constrain(throttle * mixerUAV[i].throttle, throttleMin, throttleMax);
+			motor_output[i] = RPY_Mix[i] +  constrain(throttle * mixerUAV[i].throttle, throttleMin, mixerConfig.maxCommand);
 			motor_output[i] = constrain(motor_output[i], mixerConfig.minCommand, mixerConfig.maxCommand);
 		}
 	}
@@ -185,7 +185,7 @@ void mix()
 		{
 			RPY_Mix[i] -= maxThrottleDifference; // We reduce the highest overflow on all motors
 
-			RPY_Mix[i] = constrain(RPY_Mix[i], mixerConfig.minThrottle, mixerConfig.maxThrottle);
+			RPY_Mix[i] = constrain(RPY_Mix[i], mixerConfig.minThrottle, mixerConfig.maxCommand);
 			if (throttle < mixerConfig.minCheck)
 			{
 				if (mixerConfig.motorstop)
@@ -213,7 +213,7 @@ void mix()
 			motor_output[i] = constrain(motor_output[i], mixerConfig.minCommand, mixerConfig.maxCommand);
 		/* If not then stop motors */
 		else
-			motor_output[i] = mixerConfig.minThrottle;
+			motor_output[i] = mixerConfig.minCommand;
 
 		/* Update actuators */
 		pwmAdjustSpeedOfMotor( i + 1 /* Motors start from Motor 1 */,motor_output[i]);

UAV-ControlSystem/src/drivers/motors.c

@@ -32,7 +32,7 @@ typedef struct
 **************************************************************************/
 uint16_t checkPulse(uint16_t pulse)
 {
-	return ((pulse/MotorPWMPeriode)*100 < 94)? pulse: MotorPWMPeriode*0.94;
+	return ((pulse/MotorPWMPeriode)*100 < 98)? pulse: MotorPWMPeriode*0.98;
 }
 
 /**************************************************************************
@@ -126,13 +126,13 @@ uint32_t setMotorOutput(motorOutput motorOutput)
 	switch(motorOutput)
 	{
 	case PWM:
-		prescaler = 88;
+		prescaler = 144;//88
 		break;
 	case Oneshot125:
-		prescaler = 11;
+		prescaler = 17;
 		break;
 	default:
-		prescaler = 11;
+		prescaler = 17;
 		break;
 	}
 

UAV-ControlSystem/src/main.c

@@ -26,6 +26,7 @@
 #include "drivers/failsafe_toggles.h"
 #include "drivers/sbus.h"
 #include "drivers/motormix.h"
+#include "drivers/motors.h"
 
 /**************************************************************************
 * BRIEF: Should contain all the initializations of the system, needs to
@@ -47,11 +48,14 @@ void init_system()
 	readEEPROM();
 
 
-	//initialize the CLI
+	//initialize the CLI NOTE: Cant use the same usart as anything else or there will be some big trouble
-	cliInit(USART1);
+	cliInit(USART3);
 
-	//init sbus
+	//init sbus, using USART1
-	//sbus_init();
+	sbus_init();
+
+	//init motors to run with oneshot 125
+	pwmEnableAllMotors(Oneshot125);
 
 #ifdef USE_LEDS
 	//Initialize the on board leds

UAV-ControlSystem/src/tasks_main.c

@@ -39,21 +39,21 @@
 #include "drivers/failsafe_toggles.h"
 #include "drivers/I2C.h"
 #include "drivers/accel_gyro.h"
+#include "drivers/motormix.h"
 
 void systemTaskGyroPid(void)
 {
 	//Read gyro and update PID and finally update the motors. The most important task in the system
 
-	uint8_t c = 102;
+	//call the motor mix
-	if (flags_IsSet_ID(systemFlags_Failsafe_noRcReceived_id))
+	mix();
-		usart_transmit(&cliUsart, &c, 1, 1000000000);
 }
 
 void systemTaskAccelerometer(void)
 {
 	//update the accelerometer data
-	uint8_t c = 97;
+//	uint8_t c = 97;
-	usart_transmit(&cliUsart, &c, 1, 1000000000);
+//	usart_transmit(&cliUsart, &c, 1, 1000000000);
 }
 
 void systemTaskAttitude(void)
@@ -72,11 +72,16 @@ void systemTaskRx(void)
 	sbusFrame_s frame = sbusChannelData;
 
 	/* Process channel data for switches and toggles on the controller, starts after "stick" channels */
-	for (int i = 1; i < STICK_CHANNEL_COUNT + AUX_CHANNEL_COUNT; i++)	//ToDo: add define for the number of channels to process, /if not work change i to start at numb of stick channels
+	for (int i = STICK_CHANNEL_COUNT; i < STICK_CHANNEL_COUNT + AUX_CHANNEL_COUNT; i++)	//ToDo: add define for the number of channels to process, /if not work change i to start at numb of stick channels
 	{
 		flags_ProcessRcChannel(i+1, getChannelValue(frame, i+1));
 	}
 
+	//temporary send data from the RC directly form the RC
+	PID_Out[0] = frame.chan1 - 1500;
+	PID_Out[1] = frame.chan2 - 1500;
+	PID_Out[2] = frame.chan4 - 1500;
+
 }
 
 bool systemTaskRxCheck(uint32_t currentDeltaTime)
@@ -128,8 +133,8 @@ bool systemTaskRxCliCheck(uint32_t currentDeltaTime)
 
 void systemTaskSerial(void)
 {
-	uint8_t c = 118;
+//	uint8_t c = 118;
-	usart_transmit(&cliUsart, &c, 1, 1000000000);
+//	usart_transmit(&cliUsart, &c, 1, 1000000000);
 	if (flags_IsSet_ID(systemFlags_armed_id))
 		ledOnInverted(Led0_PIN, Led0_GPIO_PORT);
 	else
@@ -140,8 +145,8 @@ void systemTaskSerial(void)
 void systemTaskBattery(void)
 {
 	//Keep track of the battery level of the system
-	uint8_t c = 98;
+//	uint8_t c = 98;
-	usart_transmit(&cliUsart, &c, 1, 1000000000);
+//	usart_transmit(&cliUsart, &c, 1, 1000000000);
 	if (flags_IsSet_MASK((systemFlags_flightmode_acceleromter_mask | systemFlags_armed_mask)))
 		ledOnInverted(Led1, Led1_GPIO_PORT);
 	else