From f8aa1c4b9a6e82b0595e00478c5e2614f9ac12a4 Mon Sep 17 00:00:00 2001 From: Tove Rumar Date: Tue, 11 Jun 2024 11:04:54 +0200 Subject: [PATCH] Block idlethtrust and unarmed feature at run time. We need to override the idleThrust param stored in eeprom with 0 if arming is not on The (brushless) motors needs to be fed a 0 signal after they started up and we do not know exactly when that is. These two features are mutually eclusive and can not be used together --- src/modules/src/power_distribution_quadrotor.c | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/src/modules/src/power_distribution_quadrotor.c b/src/modules/src/power_distribution_quadrotor.c index 5c963328d..aef6e752e 100644 --- a/src/modules/src/power_distribution_quadrotor.c +++ b/src/modules/src/power_distribution_quadrotor.c @@ -24,9 +24,11 @@ * power_distribution_quadrotor.c - Crazyflie stock power distribution code */ + #include "power_distribution.h" #include +#include "debug.h" #include "log.h" #include "param.h" #include "num.h" @@ -66,6 +68,11 @@ uint16_t powerDistributionStopRatio(uint32_t id) void powerDistributionInit(void) { + #if (!defined(CONFIG_MOTORS_REQUIRE_ARMING) || (CONFIG_MOTORS_REQUIRE_ARMING == 0)) + if(idleThrust > 0) { + DEBUG_PRINT("WARNING: idle thrust will be overridden with value 0. Autoarming can not be off while idle thrust is higher than 0. If you want to use idle thust please use use arming\n"); + } + #endif } bool powerDistributionTest(void) @@ -166,14 +173,19 @@ bool powerDistributionCap(const motors_thrust_uncapped_t* motorThrustBatCompUnca for (int motorIndex = 0; motorIndex < STABILIZER_NR_OF_MOTORS; motorIndex++) { int32_t thrustCappedUpper = motorThrustBatCompUncapped->list[motorIndex] - reduction; - motorPwm->list[motorIndex] = capMinThrust(thrustCappedUpper, idleThrust); + motorPwm->list[motorIndex] = capMinThrust(thrustCappedUpper, powerDistributionGetIdleThrust()); } return isCapped; } -uint32_t powerDistributionGetIdleThrust() { - return idleThrust; +uint32_t powerDistributionGetIdleThrust() +{ + int32_t thrust = idleThrust; + #if (!defined(CONFIG_MOTORS_REQUIRE_ARMING) || (CONFIG_MOTORS_REQUIRE_ARMING == 0)) + thrust = 0; + #endif + return thrust; } float powerDistributionGetMaxThrust() {