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Toverumar/mutual excl idlethrust #1384

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merged 2 commits into from
Jun 11, 2024
Merged

Toverumar/mutual excl idlethrust #1384

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7dbccfd
Stop building a FW that has both arming set to off, and idle_thrust h…
ToveRumar Jun 11, 2024
aa03faa
Block idlethtrust and unarmed feature at run time.
ToveRumar Jun 11, 2024
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21 changes: 18 additions & 3 deletions src/modules/src/power_distribution_quadrotor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -24,9 +24,11 @@
* power_distribution_quadrotor.c - Crazyflie stock power distribution code
*/


#include "power_distribution.h"

#include <string.h>
#include "debug.h"
#include "log.h"
#include "param.h"
#include "num.h"
Expand All @@ -35,6 +37,9 @@
#include "math.h"
#include "platform_defaults.h"

#if (!defined(CONFIG_MOTORS_REQUIRE_ARMING) || (CONFIG_MOTORS_REQUIRE_ARMING == 0)) && defined(CONFIG_MOTORS_DEFAULT_IDLE_THRUST) && (CONFIG_MOTORS_DEFAULT_IDLE_THRUST > 0)
#error "CONFIG_MOTORS_REQUIRE_ARMING must be defined and not set to 0 if CONFIG_MOTORS_DEFAULT_IDLE_THRUST is greater than 0"
#endif
#ifndef CONFIG_MOTORS_DEFAULT_IDLE_THRUST
# define DEFAULT_IDLE_THRUST 0
#else
Expand Down Expand Up @@ -63,6 +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 on while idle thrust is higher than 0. If you want to use idle thust please use use arming\n");
}
#endif
}

bool powerDistributionTest(void)
Expand Down Expand Up @@ -163,14 +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() {
Expand Down
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