diff --git a/groundStation/src/backend/commands.c b/groundStation/src/backend/commands.c
index b88aebba678d28b8c62f0f5ddca142b959c6b1e5..b358118a29a51ee1b0cf34d4b8654f7169fa6246 100644
--- a/groundStation/src/backend/commands.c
+++ b/groundStation/src/backend/commands.c
@@ -57,9 +57,9 @@ command_cb cb_log __attribute__((weak, alias("cb_default")));
command_cb cb_response __attribute__((weak, alias("cb_default")));
/* Callbacks for configuration */
-command_cb cb_setcontrol __attribute__((weak, alias("cb_default")));
-command_cb cb_getcontrol __attribute__((weak, alias("cb_default")));
-command_cb cb_respcontrol __attribute__((weak, alias("cb_default")));
+command_cb cb_setparam __attribute__((weak, alias("cb_default")));
+command_cb cb_getparam __attribute__((weak, alias("cb_default")));
+command_cb cb_respparam __attribute__((weak, alias("cb_default")));
/*
* Command structure.
@@ -137,32 +137,32 @@ struct MessageType MessageTypes[MAX_TYPE_ID] =
// Function pointer
&cb_response
},
- // SETCONTROL
+ // SETPARAM
{
// Command text
- "setcontrol",
+ "setparam",
// Type of the command data
floatType,
// Function pointer
- &cb_setcontrol
+ &cb_setparam
},
- // GETCONTROL
+ // GETPARAM
{
// Command text
- "getcontrol",
+ "getparam",
// Type of the command data
floatType,
// Function pointer
- &cb_getcontrol
+ &cb_getparam
},
- // RESPCONTROL
+ // RESPPARAM
{
// Command text
- "respcontrol",
+ "respparam",
// Type of the command data
floatType,
// Function pointer
- &cb_respcontrol
+ &cb_respparam
}
};
diff --git a/groundStation/src/backend/commands.h b/groundStation/src/backend/commands.h
index 094e3ac59c76e869c7d1420baa72d4279b5a1553..55584945c28662db1c7f35550795210a408e9350 100644
--- a/groundStation/src/backend/commands.h
+++ b/groundStation/src/backend/commands.h
@@ -41,9 +41,9 @@ enum MessageTypeID{
BEGINUPDATE_ID, // 04
LOG_ID, // 05
RESPONSE_ID, // 06
- SETCONTROL_ID, // 07 - Setting controller values. Example: PID constants
- GETCONTROL_ID, // 08 - Getting controller values. Example: PID constants
- RESPCONTROL_ID, // 09 - Responding with controller values. Example: PID constants
+ SETPARAM_ID, // 07 - Setting controller parameters. Example: PID constants
+ GETPARAM_ID, // 08 - Getting controller parameters. Example: PID constants
+ RESPPARAM_ID, // 09 - Responding with controller parameters. Example: PID constants
MAX_TYPE_ID // 10 - Just used to keep track of the size
};
@@ -64,14 +64,14 @@ enum ControllerID{
};
/*
- * Enumeration of controller values
+ * Enumeration of controller parameters
*/
-enum ControllerValueID{
+enum ControlParamID{
KP_ID, // 00 - P constant
KI_ID, // 01 - I constant
KD_ID, // 02 - D constant
SP_ID, // 03 - Setpoint value
- MAX_CONTROL_VAL_ID, // 04 - Just used to keep track of the size
+ MAX_CONTROL_PARAM_ID, // 04 - Just used to keep track of the size
};
/*
diff --git a/quad/sw/modular_quad_pid/src/callbacks.c b/quad/sw/modular_quad_pid/src/callbacks.c
index 0a166ca4fd27a9ebafdb5ecbbef20d963a6f72a2..8c6661dad66de3b07db273c85753b97ef34e36fd 100644
--- a/quad/sw/modular_quad_pid/src/callbacks.c
+++ b/quad/sw/modular_quad_pid/src/callbacks.c
@@ -93,50 +93,50 @@ int cb_beginupdate(modular_structs_t *structs) {
/* Callbacks for configuration */
/**
- * Handles a command to set a controller value on the quad.
+ * Handles a command to set a controller parameter on the quad.
*
* NOTE:
* Expects the uart buff to have data in the following format:
* |--------------------------------------------------------|
* | data index || 0 | 1 | 2 - 5 |
* |--------------------------------------------------------|
- * | param || control ID | ctrl val ID | float val |
+ * | parameter || control ID | ctrl parmID | param val |
* |--------------------------------------------------------|
* | bytes || 1 | 1 | 4 |
* |--------------------------------------------------------|
*
* Does not send anything in response.
*/
-int cb_setcontrol(modular_structs_t *structs)
+int cb_setparam(modular_structs_t *structs)
{
// Get some of the meta data
u16 data_len = uart_buff_get_u16(6);
// Check if the data length is correct
if (data_len == 6)
{
- // Get the controller ID, value ID, float value
+ // Get the controller ID, parameter ID, parameter value
u8 controller_id = uart_buff_data_get_u8(0);
- u8 controller_value_id = uart_buff_data_get_u8(1);
- float controller_value = uart_buff_data_get_float(3);
+ u8 param_id = uart_buff_data_get_u8(1);
+ float param_val = uart_buff_data_get_float(3);
// Check to make sure the IDs are in bounds
if (controller_id < MAX_CONTROLLER_ID &&
- controller_value_id < MAX_CONTROL_VAL_ID)
+ param_id < MAX_CONTROL_PARAM_ID)
{
- // Set the controller_value into the controller by controller_id, controller_value_id
- switch(controller_value_id)
+ // Set the param_val into the controller by controller_id, param_id
+ switch(param_id)
{
case KP_ID:
- structs->parameter_struct.pid_controllers[controller_id].Kp = controller_value;
+ structs->parameter_struct.pid_controllers[controller_id].Kp = param_val;
break;
case KI_ID:
- structs->parameter_struct.pid_controllers[controller_id].Ki = controller_value;
+ structs->parameter_struct.pid_controllers[controller_id].Ki = param_val;
break;
case KD_ID:
- structs->parameter_struct.pid_controllers[controller_id].Kd = controller_value;
+ structs->parameter_struct.pid_controllers[controller_id].Kd = param_val;
break;
case SP_ID:
- structs->parameter_struct.pid_controllers[controller_id].setpoint = controller_value;
+ structs->parameter_struct.pid_controllers[controller_id].setpoint = param_val;
break;
}
}
@@ -147,14 +147,14 @@ int cb_setcontrol(modular_structs_t *structs)
}
/**
- * Handles a command to get a controller value from the quad.
+ * Handles a command to get a controller parameter from the quad.
*
* NOTE:
* Expects the uart buff to have data in the following format:
* |------------------------------------------|
* | data index || 0 | 1 |
* |------------------------------------------|
- * | param || control ID | ctrl val ID |
+ * | parameter || control ID | ctrl parmID |
* |------------------------------------------|
* | bytes || 1 | 1 |
* |------------------------------------------|
@@ -165,12 +165,12 @@ int cb_setcontrol(modular_structs_t *structs)
* |--------------------------------------------------------|
* | data index || 0 | 1 | 2 - 5 |
* |--------------------------------------------------------|
- * | param || control ID | ctrl val ID | float val |
+ * | parameter || control ID | ctrl parmID | param val |
* |--------------------------------------------------------|
* | bytes || 1 | 1 | 4 |
* |--------------------------------------------------------|
*/
-int cb_getcontrol(modular_structs_t* structs)
+int cb_getparam(modular_structs_t* structs)
{
// Get some of the meta data
u16 data_len = uart_buff_get_u16(6);
@@ -178,31 +178,31 @@ int cb_getcontrol(modular_structs_t* structs)
// Check if the data length is correct
if (data_len == 2)
{
- // Get the controller ID, value ID
+ // Get the controller ID, parameter ID
u8 controller_id = uart_buff_data_get_u8(0);
- u8 controller_value_id = uart_buff_data_get_u8(1);
+ u8 param_id = uart_buff_data_get_u8(1);
// Check to make sure the IDs are in bounds
if (controller_id < MAX_CONTROLLER_ID &&
- controller_value_id < MAX_CONTROL_VAL_ID)
+ param_id < MAX_CONTROL_PARAM_ID)
{
// Make the variable to send
- float controller_value;
- // Set the controller_value equal to the controller value stored in the controller by
- // controllerid, controller_value_id
- switch(controller_value_id)
+ float param_val;
+ // Set the param_val equal to the parameter value stored in the controller by
+ // controller_id, param_id
+ switch(param_id)
{
case KP_ID:
- controller_value = structs->parameter_struct.pid_controllers[controller_id].Kp;
+ param_val = structs->parameter_struct.pid_controllers[controller_id].Kp;
break;
case KI_ID:
- controller_value = structs->parameter_struct.pid_controllers[controller_id].Ki;
+ param_val = structs->parameter_struct.pid_controllers[controller_id].Ki;
break;
case KD_ID:
- controller_value = structs->parameter_struct.pid_controllers[controller_id].Kd;
+ param_val = structs->parameter_struct.pid_controllers[controller_id].Kd;
break;
case SP_ID:
- controller_value = structs->parameter_struct.pid_controllers[controller_id].setpoint;
+ param_val = structs->parameter_struct.pid_controllers[controller_id].setpoint;
break;
}
@@ -211,16 +211,15 @@ int cb_getcontrol(modular_structs_t* structs)
// Controller ID
resp_data[0] = controller_id;
- // Controller value ID
- resp_data[1] = controller_value_id;
- // Controller value (4 byte float)
+ // Parameter ID
+ resp_data[1] = param_id;
+ // Parameter value (4 byte float)
// TODO set a strict byte ordering for communication between the ground station and the quad
- memcpy(&resp_data[2], &controller_value, sizeof(controller_value));
+ memcpy(&resp_data[2], ¶m_val, sizeof(param_val));
- // Send the data
- send_data(RESPCONTROL_ID, msg_id, resp_data, sizeof(resp_data));
+ // Send the response
+ send_data(RESPPARAM_ID, msg_id, resp_data, sizeof(resp_data));
}
-
}
return 0;