Some fixes after testing the code

rosflight · Nov 14, 2024 · 2e3b696 · 2e3b696
1 parent 5cdb03b
commit 2e3b696
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Showing 7 changed files with 15 additions and 14 deletions.
diff --git a/boards/varmint_h7 b/boards/varmint_h7
diff --git a/comms/mavlink/mavlink.cpp b/comms/mavlink/mavlink.cpp
@@ -269,8 +269,10 @@ void Mavlink::send_command_ack(uint8_t system_id, uint64_t timestamp_us,
 
 void Mavlink::send_diff_pressure(uint8_t system_id, const PressureStruct & p)
 {
+
+  float ias = (p.pressure<0.0?-1.0:1.0)*sqrt(fabs(p.pressure) / (0.5 * 1.225));
   mavlink_message_t msg;
-  mavlink_msg_diff_pressure_pack(system_id, compid_, &msg, sqrt(p.pressure / (0.5 * 1.225)),
+  mavlink_msg_diff_pressure_pack(system_id, compid_, &msg, ias,
                                  p.pressure, p.temperature);
   send_message(msg);
 }

diff --git a/include/board.h b/include/board.h
@@ -77,7 +77,6 @@ class Board
 
   // IMU
   virtual bool imu_read(rosflight_firmware::ImuStruct * imu) = 0;
-  virtual void imu_not_responding_error() = 0;
 
   // Mag
   virtual bool mag_read(rosflight_firmware::MagStruct * mag) = 0;

diff --git a/include/mixer.h b/include/mixer.h
@@ -37,6 +37,8 @@
 #include <cstdbool>
 #include <cstdint>
 
+#include <sensors.h>
+
 namespace rosflight_firmware
 {
 class ROSflight;
@@ -47,7 +49,6 @@ class Mixer : public ParamListenerInterface
 public:
   static constexpr uint8_t NUM_TOTAL_OUTPUTS = 14;
   static constexpr uint8_t NUM_MIXER_OUTPUTS = 10;
-  float * raw_outputs(void);
 
   enum
   {
@@ -102,7 +103,9 @@ class Mixer : public ParamListenerInterface
 private:
   ROSflight & RF_;
 
-  float raw_outputs_[NUM_TOTAL_OUTPUTS];
+  RcStruct output_raw_ = {};
+  //float raw_outputs_[NUM_TOTAL_OUTPUTS];
+  float *raw_outputs_ = output_raw_.chan;
   float outputs_[NUM_TOTAL_OUTPUTS];
   aux_command_t aux_command_;
   output_type_t combined_output_type_[NUM_TOTAL_OUTPUTS];
@@ -258,7 +261,8 @@ class Mixer : public ParamListenerInterface
   void mix_output();
   void param_change_callback(uint16_t param_id) override;
   void set_new_aux_command(aux_command_t new_aux_command);
-  inline const float * get_outputs() const { return raw_outputs_; }
+  float * raw_outputs() { return raw_outputs_; }
+  RcStruct * get_output_raw(void) { return &output_raw_; }
 };
 
 } // namespace rosflight_firmware

diff --git a/include/sensors.h b/include/sensors.h
@@ -100,8 +100,8 @@ typedef struct //__attribute__((packed))
   float temperature;  // K
 } MagStruct;
 
-#define RC_STRUCT_CHANNELS                                                                         \
-  24           // 16 analog + 8 digital MUST BE > 14 (Mavlink message size is hardware to 14)
+// 16 analog + 8 digital MUST BE > 14 (Mavlink message size is hardware to 14)
+#define RC_STRUCT_CHANNELS  24
 typedef struct //__attribute__((packed))
 {
   uint64_t timestamp; // us, time of data read complete
@@ -194,7 +194,6 @@ class Sensors : public ParamListenerInterface
   RangeStruct * get_sonar(void) { return &sonar_; }
   ImuStruct * get_imu(void) { return &imu_; }
   BatteryStruct * get_battery(void) { return &battery_; }
-  RcStruct * get_output_raw(void) { return &output_raw_; }
   RcStruct * get_rc_(void) { return &rc_; }
   MagStruct * get_mag(void) { return &mag_; }
   GnssStruct * get_gnss(void) { return &gnss_; }
@@ -221,7 +220,6 @@ class Sensors : public ParamListenerInterface
   RangeStruct sonar_ = {};
   ImuStruct imu_ = {};
   BatteryStruct battery_ = {};
-  RcStruct output_raw_ = {};
   RcStruct rc_ = {};
   MagStruct mag_ = {};
   GnssStruct gnss_ = {};

diff --git a/src/comm_manager.cpp b/src/comm_manager.cpp
@@ -180,7 +180,7 @@ void CommManager::send_imu(void) { comm_link_.send_imu(sysid_, *RF_.sensors_.get
 
 void CommManager::send_output_raw(void)
 {
-  comm_link_.send_output_raw(sysid_, *RF_.sensors_.get_output_raw());
+  comm_link_.send_output_raw(sysid_, *RF_.mixer_.get_output_raw());
 }
 
 void CommManager::send_rc_raw(void) { comm_link_.send_rc_raw(sysid_, *RF_.sensors_.get_rc_()); }
@@ -192,7 +192,7 @@ void CommManager::send_diff_pressure(void)
 
 void CommManager::send_baro(void)
 {
-  comm_link_.send_diff_pressure(sysid_, *RF_.sensors_.get_baro());
+  comm_link_.send_baro(sysid_, *RF_.sensors_.get_baro());
 }
 
 void CommManager::send_sonar(void) { comm_link_.send_sonar(sysid_, *RF_.sensors_.get_sonar()); }

diff --git a/src/mixer.cpp b/src/mixer.cpp
@@ -45,8 +45,6 @@ Mixer::Mixer(ROSflight & _rf)
 
 void Mixer::init() { init_mixing(); }
 
-float * Mixer::raw_outputs(void) { return raw_outputs_; }
-
 void Mixer::param_change_callback(uint16_t param_id)
 {
   switch (param_id) {
+1 −3		common/Varmint.cpp
+0 −3		common/Varmint.h
+1 −5		common/drivers/Ubx.cpp
+0 −30		varmint_10X/.cproject
-Original file line number
+Diff line change
@@ Expand Up / @@ -77,7 +77,6 @@ class Board @@
       // IMU
       virtual bool imu_read(rosflight_firmware::ImuStruct * imu) = 0;
-      virtual void imu_not_responding_error() = 0;
       // Mag
       virtual bool mag_read(rosflight_firmware::MagStruct * mag) = 0;
@@ Expand Down @@