From c79e055596538e4a5d8b164123a95e08dcaae40d Mon Sep 17 00:00:00 2001
From: Federico Mandelli <federicomandelli@skywarder.eu>
Date: Fri, 15 Dec 2023 10:58:29 +0100
Subject: [PATCH] [Config] Changed parameters for flight test
---
src/boards/Parafoil/Configs/ActuatorsConfigs.h | 4 ++--
src/boards/Parafoil/Configs/WingConfig.h | 3 ++-
src/boards/Parafoil/Sensors/Sensors.cpp | 2 +-
.../Parafoil/StateMachines/WingController/WingController.cpp | 2 ++
src/entrypoints/Parafoil/parafoil-entry.cpp | 4 +---
5 files changed, 8 insertions(+), 7 deletions(-)
diff --git a/src/boards/Parafoil/Configs/ActuatorsConfigs.h b/src/boards/Parafoil/Configs/ActuatorsConfigs.h
index bd078fcaa..ac98d32bc 100644
--- a/src/boards/Parafoil/Configs/ActuatorsConfigs.h
+++ b/src/boards/Parafoil/Configs/ActuatorsConfigs.h
@@ -52,8 +52,8 @@ constexpr Boardcore::TimerUtils::Channel SERVO_2_PWM_CH =
Boardcore::TimerUtils::Channel::CHANNEL_2;
constexpr float RIGHT_SERVO_ROTATION = SERVO_ROTATION; // [deg]
-constexpr float RIGHT_SERVO_MIN_PULSE = 2500; // [us]
-constexpr float RIGHT_SERVO_MAX_PULSE = 500; // [us]
+constexpr float RIGHT_SERVO_MIN_PULSE = 500; // [us]
+constexpr float RIGHT_SERVO_MAX_PULSE = 2500; // [us]
} // namespace ActuatorsConfigs
diff --git a/src/boards/Parafoil/Configs/WingConfig.h b/src/boards/Parafoil/Configs/WingConfig.h
index 822063cf1..d316cf9b6 100644
--- a/src/boards/Parafoil/Configs/WingConfig.h
+++ b/src/boards/Parafoil/Configs/WingConfig.h
@@ -68,7 +68,8 @@ constexpr int SELECTED_ALGORITHM = 3;
#else
constexpr int SELECTED_ALGORITHM = 0;
#endif
-constexpr float MAX_SERVO_APERTURE = 0.5;
+constexpr float OFFSET = 0.25;
+constexpr float MAX_SERVO_APERTURE = 0.5 + OFFSET;
// Wing altitude checker configs
constexpr int WING_ALTITUDE_TRIGGER_CONFIDENCE = 10; // [number of sample]
constexpr int WING_ALTITUDE_TRIGGER_FALL = 50; // [meters]
diff --git a/src/boards/Parafoil/Sensors/Sensors.cpp b/src/boards/Parafoil/Sensors/Sensors.cpp
index 84141eeed..c071812fb 100644
--- a/src/boards/Parafoil/Sensors/Sensors.cpp
+++ b/src/boards/Parafoil/Sensors/Sensors.cpp
@@ -58,7 +58,7 @@ bool Sensors::startModule()
// Initialize all the sensors
lis3mdlInit();
ms5803Init();
- // ubxGpsInit();
+ ubxGpsInit();
ads1118Init();
internalADCInit();
batteryVoltageInit();
diff --git a/src/boards/Parafoil/StateMachines/WingController/WingController.cpp b/src/boards/Parafoil/StateMachines/WingController/WingController.cpp
index 0f3245542..9ac3120e8 100644
--- a/src/boards/Parafoil/StateMachines/WingController/WingController.cpp
+++ b/src/boards/Parafoil/StateMachines/WingController/WingController.cpp
@@ -187,6 +187,8 @@ State WingController::state_controlled_descent(const Boardcore::Event& event)
.get<NASController>()
->getNasState()
.e});
+
+ ModuleManager::getInstance().get<Actuators>()->setOffset(OFFSET);
startAlgorithm();
return HANDLED;
}
diff --git a/src/entrypoints/Parafoil/parafoil-entry.cpp b/src/entrypoints/Parafoil/parafoil-entry.cpp
index 7fe08fe8e..865bfe46a 100644
--- a/src/entrypoints/Parafoil/parafoil-entry.cpp
+++ b/src/entrypoints/Parafoil/parafoil-entry.cpp
@@ -258,10 +258,8 @@ int main()
{
loadCell.sample();
- printf("[%.1f] %f\n", loadCell.getLastSample().loadTimestamp / 1e6,
- loadCell.getLastSample().load);
Logger::getInstance().log(loadCell.getLastSample());
- Thread::sleep(1.0 / 80.0);
+ Thread::sleep(1000.0 / 80.0);
}
Logger::getInstance().log(CpuMeter::getCpuStats());
CpuMeter::resetCpuStats();
--
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