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working mot

This commit is contained in:
franchioping 2026-04-13 15:04:37 +01:00
parent 4437f498ae
commit 98f218629e
2 changed files with 8 additions and 24 deletions
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2
components/DShotRMT

@ -1 +1 @@
Subproject commit 262feec75cbc8b6de3b776b025b85fa534685e71 Subproject commit 4f731edaead51a644270d2bf183a8a43cae33454

30
main/drone.cpp
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@ -40,7 +40,6 @@ dcont::ControllerConfig default_config() {
// Velocity Loop (Velocity -> Acceleration/Tilt) // Velocity Loop (Velocity -> Acceleration/Tilt)
config.stack.linvel_pid = { config.stack.linvel_pid = {
{1.0f, 1.0f, 1.0f}, {0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, 15.0f}; {1.0f, 1.0f, 1.0f}, {0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, 15.0f};
// Rotation Loop (Angle -> Angular Rate) // Rotation Loop (Angle -> Angular Rate)
config.stack.rotation_pid = { config.stack.rotation_pid = {
{4.0f, 4.0f, 4.0f}, {1.0f, 1.0f, 1.0f}, {0.0f, 0.0f, 0.0f}, 50.0f}; {4.0f, 4.0f, 4.0f}, {1.0f, 1.0f, 1.0f}, {0.0f, 0.0f, 0.0f}, 50.0f};
@ -67,10 +66,10 @@ dcont::ControllerConfig default_config() {
*/ */
float mixer[4][3] = { float mixer[4][3] = {
{1.0f, -1.0f, 1.0f}, // Front Right - Real front {1.0f, -1.0f, 1.0f}, // Front Right
{-1.0f, -1.0f, -1.0f}, // Front Left - Real left {-1.0f, -1.0f, -1.0f}, // Front Left
{-1.0f, 1.0f, 1.0f}, // Rear Left - Real rear {-1.0f, 1.0f, 1.0f}, // Rear Left
{1.0f, 1.0f, -1.0f} // Rear Right - Real right {1.0f, 1.0f, -1.0f} // Rear Right
}; };
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
@ -157,44 +156,29 @@ void drone_controller_task(void *params) {
const gpio_num_t motor_pins[4] = {GPIO_NUM_46, GPIO_NUM_16, GPIO_NUM_14, const gpio_num_t motor_pins[4] = {GPIO_NUM_46, GPIO_NUM_16, GPIO_NUM_14,
GPIO_NUM_15}; GPIO_NUM_15};
const bool reversed[4] = {false, true, false, false}; // const bool reversed[4] = {false, true, false, false};
DShotRMT *motors[4]; DShotRMT *motors[4];
void motor_throttles_task(void *params) { void motor_throttles_task(void *params) {
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
motors[i] = new DShotRMT(motor_pins[i], DSHOT300, false); motors[i] = new DShotRMT(motor_pins[i], DSHOT300, false);
motors[i]->begin(); motors[i]->begin();
rmt_tx_wait_all_done(motors[i]->_rmt_tx_channel, 2);
motors[i]->_cleanupRmtResources();
} }
// ARM // ARM
unsigned long armTime = millis(); unsigned long armTime = millis();
while (millis() - armTime < 5000) { while (millis() - armTime < 5000) {
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
motors[i]->begin();
motors[i]->sendThrottlePercent(0); motors[i]->sendThrottlePercent(0);
rmt_tx_wait_all_done(motors[i]->_rmt_tx_channel, 2);
// delayMicroseconds(50);
motors[i]->_cleanupRmtResources();
} }
// vTaskDelay(1); vTaskDelay(1);
} }
while (true) { while (true) {
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
motors[i]->begin();
motors[i]->sendThrottlePercent(motor_throttles[i] * 100.0f); motors[i]->sendThrottlePercent(motor_throttles[i] * 100.0f);
rmt_tx_wait_all_done(motors[i]->_rmt_tx_channel, 2);
// delayMicroseconds(50);
motors[i]->_cleanupRmtResources();
} }
// vTaskDelay(1); vTaskDelay(1);
} }
} }