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Bidirectional Control For Motors #10778

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Bidirectional Control For Motors #10778

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8026b26
wip-Bidirectional control for motors
Aug 16, 2023
c91e0b1
Making changes in Mixer file
Aug 16, 2023
92d0c1e
adapt min and default value in Actuators
Aug 16, 2023
39f8c95
Remove debugging code
Aug 16, 2023
abafb53
Merge branch 'mavlink:master' into wip-bidirectional-control-motors
Nov 12, 2023
1d98545
wip still using parameter to define reversibility
Mar 20, 2024
098afb6
determine bidirectional from metadata scheme
Mar 22, 2024
b2c0451
snap in slider for bidi motors working
Mar 22, 2024
920ace8
wip: snap slider for bidirectional motors working
Mar 25, 2024
63dcbc9
Merge branch 'wip-use-metadata-schme' into wip-bidirectional-control-…
Mar 25, 2024
d63d4a2
fix missed merge changes
Mar 25, 2024
f5be7f9
fix merge changes
Mar 25, 2024
f7c0936
Remove hardcoded default value
Mar 25, 2024
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2 changes: 1 addition & 1 deletion src/AutoPilotPlugins/PX4/ActuatorComponent.qml
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Original file line number Diff line number Diff line change
Expand Up @@ -252,7 +252,7 @@ SetupPage {
stopTimer();
for (var channelIdx=0; channelIdx<sliderRepeater.count; channelIdx++) {
var channelSlider = sliderRepeater.itemAt(channelIdx);
if (channelSlider.channel.isMotor) {
if (channelSlider.channel.isMotor && !channelSlider.channel.isBidirectional) {
channelSlider.value = sliderValue;
}
}
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6 changes: 3 additions & 3 deletions src/Vehicle/Actuators/ActuatorTesting.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -41,14 +41,14 @@ void ActuatorTest::updateFunctions(const QList<Actuator*> &actuators)

Actuator* motorActuator{nullptr};
for (const auto& actuator : actuators) {
if (actuator->isMotor()) {
if (actuator->isMotor() && !actuator->isBidirectional()) {
motorActuator = actuator;
}
_actuators->append(actuator);
}
if (motorActuator) {
_allMotorsActuator = new Actuator(this, tr("All Motors"), motorActuator->min(), motorActuator->max(), motorActuator->defaultValue(),
motorActuator->function(), true);
_allMotorsActuator = new Actuator(this, tr("All Standard Motors"), motorActuator->min(), motorActuator->max(), motorActuator->defaultValue(),
motorActuator->function(), true, false);
}
resetStates();

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7 changes: 5 additions & 2 deletions src/Vehicle/Actuators/ActuatorTesting.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,23 +24,25 @@ class Actuator : public QObject
{
Q_OBJECT
public:
Actuator(QObject* parent, const QString& label, float min, float max, float defaultValue, int function, bool isMotor)
Actuator(QObject* parent, const QString& label, float min, float max, float defaultValue, int function, bool isMotor, bool isBidirectional)
: QObject(parent), _label(label), _min(min), _max(max), _defaultValue(defaultValue), _function(function),
_isMotor(isMotor) {}
_isMotor(isMotor), _isBidirectional(isBidirectional) {}

Q_PROPERTY(QString label READ label CONSTANT)
Q_PROPERTY(float min READ min CONSTANT)
Q_PROPERTY(float max READ max CONSTANT)
Q_PROPERTY(float defaultValue READ defaultValue CONSTANT)
Q_PROPERTY(int function READ function CONSTANT)
Q_PROPERTY(bool isMotor READ isMotor CONSTANT)
Q_PROPERTY(bool isBidirectional READ isBidirectional CONSTANT)

const QString& label() const { return _label; }
float min() const { return _min; }
float max() const { return _max; }
float defaultValue() const { return _defaultValue; }
int function() const { return _function; }
bool isMotor() const { return _isMotor; }
bool isBidirectional() const { return _isBidirectional; }

private:
const QString _label;
Expand All @@ -49,6 +51,7 @@ class Actuator : public QObject
const float _defaultValue;
const int _function;
const bool _isMotor;
const bool _isBidirectional;
};

class ActuatorTest : public QObject
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28 changes: 25 additions & 3 deletions src/Vehicle/Actuators/Actuators.cc
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Expand Up @@ -200,6 +200,7 @@ void Actuators::parametersChanged()
QList<ActuatorTesting::Actuator*> actuators;
QSet<int> uniqueConfiguredFunctions;
const Mixer::ActuatorTypes &actuatorTypes = _mixer.actuatorTypes();
int num_motor = 0;
for (int function : allFunctions) {
if (uniqueConfiguredFunctions.find(function) != uniqueConfiguredFunctions.end()) { // only add once
continue;
Expand All @@ -221,9 +222,30 @@ void Actuators::parametersChanged()
const Mixer::ActuatorType& actuatorType = actuatorTypes[actuatorTypeName];
if (function >= actuatorType.functionMin && function <= actuatorType.functionMax) {
bool isMotor = ActuatorGeometry::typeFromStr(actuatorTypeName) == ActuatorGeometry::Type::Motor;
bool isBidirectional = false;
float min_value = actuatorType.values.min;
float default_value = actuatorType.values.defaultVal;

if(isMotor){
QString bidirectional_param("CA_R_REV");
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We cannot use hardcoded parameter values here, as it makes it PX4-specific, and it will break easily.

Rather we need to set the reversible function on the PX4 side for the parameter, and then make use of it here. -> https://github.com/mavlink/mavlink/blob/master/component_metadata/actuators.schema.json#L63

quint8 bitset_bidirectional = getFact(bidirectional_param)->rawValue().toInt();
quint8 is_bidi = (bitset_bidirectional >> num_motor) & 0b1;

if(is_bidi == 1){

min_value = -1.0f;
default_value = 0.0f;
isBidirectional = true;
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The idea is that if reversible is set (https://github.com/mavlink/mavlink/blob/master/component_metadata/actuators.schema.json#L37), then the range [-max, -min] should be used for the reversible part. So you don't have to hardcode values.


}
num_motor++;

}

// qDebug() << "testinng: " << actuatorType.values.min << actuatorType.values.max << actuatorType.values.defaultVal;
actuators.append(
new ActuatorTesting::Actuator(&_actuatorTest, label, actuatorType.values.min, actuatorType.values.max,
actuatorType.values.defaultVal, function, isMotor));
new ActuatorTesting::Actuator(&_actuatorTest, label, min_value, actuatorType.values.max,
default_value, function, isMotor, isBidirectional));
found = true;
break;
}
Expand All @@ -232,7 +254,7 @@ void Actuators::parametersChanged()
const Mixer::ActuatorType& actuatorType = actuatorTypes["DEFAULT"];
actuators.append(
new ActuatorTesting::Actuator(&_actuatorTest, label, actuatorType.values.min, actuatorType.values.max,
actuatorType.values.defaultVal, function, false));
actuatorType.values.defaultVal, function, false, false));
}
}
}
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