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Commit 2a1beddc authored by ucart's avatar ucart
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Merge branch 'master' of https://git.ece.iastate.edu/danc/MicroCART_17-18

parents 615796cc 4039bdc5
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groundStation/gui/MicroCART/MicroCART.pro.user
+ 1
− 1
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.0.1, 2017-04-11T14:10:46. -->
<!-- Written by QtCreator 4.0.1, 2017-04-11T17:47:13. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
......
groundStation/gui/MicroCART/controlworker.cpp
+ 58
− 1
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#include "controlworker.h"
#include "frontend_nodes.h"
#include "frontend_param.h"
#include "frontend_source.h"
#include "graph_blocks.h"
#include <QProcess>
#include <err.h>
ControlWorker::ControlWorker(QObject *parent) :
QObject(parent), conn(NULL)
......@@ -41,9 +44,63 @@ void ControlWorker::getNodes()
const_block_nodes.append(nd[i].name);
}
}
frontend_free_node_data(nd, num_nodes);
emit(gotNodes(nodes));
emit(gotConstantBlocks(const_block_nodes));
/* Create a graph for rendering.
*
* This leaks memory (NOT MY FAULT!) because there isn't a function to free
* a graph created with create_graph().
*/
computation_graph * cgraph = create_graph();
/* Add nodes */
for (size_t i = 0; i < num_nodes; i++) {
graph_add_node_id(cgraph, nd[i].block, nd[i].name, blockDefs[nd[i].type]);
}
/* Set sources */
for (size_t i = 0; i < num_nodes; i++) {
for (ssize_t j = 0; j < blockDefs[nd[i].type]->n_inputs; j++) {
frontend_source_data sd;
sd.dst_block = nd[i].block;
sd.dst_input = j;
sd.src_block = 0;
sd.src_output = 0;
frontend_getsource(conn, &sd);
graph_set_source(cgraph, sd.dst_block, sd.dst_input, sd.src_block, sd.src_output);
}
}
/* Set params */
for (size_t i = 0; i < num_nodes; i++) {
for (ssize_t j = 0; j < blockDefs[nd[i].type]->n_params; j++) {
frontend_param_data pd;
pd.block = nd[i].block;
pd.param = j;
pd.value = 0;
frontend_getparam(conn, &pd);
graph_set_param_val(cgraph, pd.block, pd.param, pd.value);
}
}
/* This is a massive hack... */
/* Could be done with popen, but fuck it */
FILE * dotfile = fopen("/tmp/ucart-tmp-graph.dot", "w");
if (dotfile) {
export_dot(cgraph, dotfile, 0);
fclose(dotfile);
if (int dot_exit = QProcess::execute("dot /tmp/ucart-tmp-graph.dot -Tpng -o /tmp/ucart-tmp-graph.png")) {
warnx("dot returned nonzero value (%d)", dot_exit);
} else {
emit(graphRendered(QString("/tmp/ucart-tmp-graph.png")));
}
} else {
warn("fopen (/tmp/ucart-tmp-graph.dot)");
}
/* And here's where I'd put a call to free_graph(), IF I HAD ONE! */
frontend_free_node_data(nd, num_nodes);
}
}
......
groundStation/gui/MicroCART/controlworker.h
+ 1
− 0
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......@@ -18,6 +18,7 @@ signals:
void gotParamValue(QString node, QString param, float value);
void gotConstantBlocks(QStringList blocks);
void paramSet(QString node, QString param);
void graphRendered(QString graph);
public slots:
void connectBackend();
......
groundStation/gui/MicroCART/mainwindow.cpp
+ 15
− 4
View file @ 2a1beddc
......@@ -6,6 +6,7 @@
#include <QTimer>
#include <QRegExp>
#include <QProcessEnvironment>
#include <QPixmap>
#include "wrappers.h"
#include "trackerworker.h"
......@@ -25,9 +26,6 @@ MainWindow::MainWindow(QWidget *parent) :
/* Set up environment variables */
findChild<QLineEdit *>("socketPath")->setText(QProcessEnvironment::systemEnvironment().value("UCART_SOCKET"));
/* Idiot lights */
findChild<QLabel *>("noGraphWarning1")->setStyleSheet("QLabel {color : red; }");
/* Create a thread for workers */
QThread* workerThread = new QThread(this);
......@@ -52,6 +50,7 @@ MainWindow::MainWindow(QWidget *parent) :
connect(controlWorker, SIGNAL (gotParams(QStringList)), this, SLOT (newParams(QStringList)));
connect(controlWorker, SIGNAL (gotParamValue(QString, QString, float)), this, SLOT (newParamValue(QString, QString, float)));
connect(controlWorker, SIGNAL (gotConstantBlocks(QStringList)), this, SLOT (newConstantBlocks(QStringList)));
connect(controlWorker, SIGNAL (graphRendered(QString)), this, SLOT (newControlGraph(QString)));
connect(controlWorker, SIGNAL (paramSet(QString, QString)), controlWorker, SLOT (getParamValue(QString, QString)));
/* Signals to control worker */
......@@ -118,6 +117,7 @@ void MainWindow::updateTracker(float x, float y, float z, float p, float r, floa
void MainWindow::on_pbStart_clicked()
{
QProcessEnvironment::systemEnvironment().insert("UCART_SOCKET", findChild<QLineEdit *>("socketPath")->text());
this->backendPid = startBackend(findChild<QLineEdit *>("backendPath")->text().toStdString().c_str(), &backendPipe);
findChild<QPushButton *>("pbStart")->setEnabled(false);
findChild<QPushButton *>("pbStop")->setEnabled(true);
......@@ -126,6 +126,7 @@ void MainWindow::on_pbStart_clicked()
void MainWindow::on_pbConnect_clicked()
{
QProcessEnvironment::systemEnvironment().insert("UCART_SOCKET", findChild<QLineEdit *>("socketPath")->text());
findChild<QPushButton *>("pbStart")->setEnabled(false);
findChild<QPushButton *>("pbConnect")->setEnabled(false);
findChild<QPushButton *>("pbStop")->setEnabled(true);
......@@ -294,6 +295,16 @@ void MainWindow::on_pbDeleteSetpoint_clicked()
}
}
void MainWindow::on_socketPath_returnPressed()
void MainWindow::newControlGraph(QString graph)
{
findChild<QLabel *>("graphImage")->setPixmap(QPixmap(graph));
}
void MainWindow::on_pbActualToWaypoint_clicked()
{
QString str("[" + findChild<QLineEdit *>("xActual")->text() + ", "+
findChild<QLineEdit *>("yActual")->text() + ", " +
findChild<QLineEdit *>("zActual")->text() + "]");
setpointList->appendRow(new QStandardItem(str));
}
groundStation/gui/MicroCART/mainwindow.h
+ 2
− 1
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......@@ -40,6 +40,7 @@ private slots:
void newParams(QStringList params);
void newParamValue(QString node, QString param, float val);
void newConstantBlocks(QStringList blocks);
void newControlGraph(QString graph);
void on_paramSelect_currentIndexChanged(const QString &arg1);
......@@ -56,7 +57,7 @@ private slots:
void on_pbDeleteSetpoint_clicked();
void on_socketPath_returnPressed();
void on_pbActualToWaypoint_clicked();
private:
Ui::MainWindow *ui;
......
groundStation/gui/MicroCART/mainwindow.ui
+ 119
− 20
View file @ 2a1beddc
......@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>874</width>
<height>596</height>
<width>1369</width>
<height>995</height>
</rect>
</property>
<property name="windowTitle">
......@@ -18,7 +18,7 @@
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>0</number>
<number>2</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
......@@ -142,25 +142,45 @@
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QLabel" name="graphImage">
<property name="text">
<string>Refresh to display controller graph</string>
<widget class="QScrollArea" name="scrollArea">
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1333</width>
<height>727</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_8">
<item>
<widget class="QLabel" name="graphImage">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<pointsize>32</pointsize>
</font>
</property>
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>159</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="Line" name="line_2">
<property name="orientation">
......@@ -311,6 +331,9 @@
<underline>true</underline>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLabel {color : red; }</string>
</property>
<property name="text">
<string>NO CONTROL GRAPH LOADED!</string>
</property>
......@@ -487,6 +510,13 @@
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pbActualToWaypoint">
<property name="text">
<string>To Waypoint</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_4">
<property name="orientation">
......@@ -669,6 +699,75 @@
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QCheckBox" name="autonavEnabled">
<property name="text">
<string>Auto</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_9">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Delay</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="autonavDelay">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>1500</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="pbSaveWaypoints">
<property name="text">
<string>Save</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pbLoadWaypoints">
<property name="text">
<string>Load</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
......@@ -704,7 +803,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>874</width>
<width>1369</width>
<height>30</height>
</rect>
</property>
......
groundStation/src/frontend/frontend_source.h
+ 8
− 2
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......@@ -3,6 +3,10 @@
#include "frontend_common.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Get the block.output that corresponds
* to the block.input in question.
*
......@@ -21,5 +25,7 @@ int frontend_setsource(
struct backend_conn * conn,
struct frontend_source_data * source_data);
#endif /* _FRONTEND_SOURCE_H */
\ No newline at end of file
#ifdef __cplusplus
}
#endif
#endif /* _FRONTEND_SOURCE_H */
quad/Makefile
+ 3
− 3
View file @ 2a1beddc
......@@ -38,9 +38,9 @@ test: all
$(MAKE) -C src/queue test
$(MAKE) -C src/computation_graph test
$(MAKE) -C src/quad_app test
ruby scripts/tests/test_safety_checks.rb
ruby scripts/tests/test_unix_uart.rb
ruby scripts/tests/run_virtual_test_flight.rb
# ruby scripts/tests/test_safety_checks.rb
# ruby scripts/tests/test_unix_uart.rb
# ruby scripts/tests/run_virtual_test_flight.rb
clean:
rm -rf $(INCDIR) $(LIBDIR) $(OUTDIR) $(EXEDIR)
......
quad/scripts/tests/test_safety_checks.rb
+ 15
− 13
View file @ 2a1beddc
......@@ -34,34 +34,36 @@ Timeout::timeout(30) {
puts("Beginning tests...")
# Set gravity
# Set gravity and gear
File.write(I2C_MPU_ACCEL_Z, -1 * GRAVITY)
File.write(GEAR, GEAR_OFF)
puts("Check that motors are off at startup")
check_motors_are_off
check_motors_are_off "Motors weren't off at startup! How dangerous!"
puts("Check that LED is off at startup")
check_led(0)
check_led(0, "LED was on at startup! It should be off so that we can verify when the quad is ready.")
puts("Check that increasing the throttle does nothing to motors")
# (because gear is still off)
for i in (THROTTLE_MIN..THROTTLE_MAX).step(1000)
for i in (THROTTLE_MIN..THROTTLE_MAX).step(0.01)
File.write(THROTTLE, i)
check_motors_are_off
check_motors_are_off "Was able to turn on motors with GEAR off! Yikes!"
check_led(0, "LED turned on while GEAR was off!")
sleep 0.005
end
puts("Check that flipping gear to 1 while throttle is high does nothing")
# (motors should still be off, LED should still be off)
File.write(GEAR, GEAR_ON)
sleep 0.015
check_motors_are_off
sleep 0.5
check_motors_are_off "Motors turned on by gear while rc throttle was high! How dangerous!"
i = THROTTLE_MAX
while i > THROTTLE_MID
i -= 1000
i -= 0.01
File.write(THROTTLE, i)
check_motors_are_off
check_led 0
check_motors_are_off "Motors turned on while GEAR was off. Yikes!"
check_led(0, "LED turned on while GEAR was off!")
sleep 0.005
end
......@@ -73,8 +75,8 @@ Timeout::timeout(30) {
# (motors should still be off because our throttle is low)
File.write(GEAR, GEAR_ON)
sleep 0.5
check_motors_are_off
check_led 1
check_motors_are_off "Motors turned on while throttle was low! Yikes!"
check_led(1, "LED didn't turn on when GEAR was switched on!")
puts("Check that motors turn on")
File.write(THROTTLE, THROTTLE_MID)
......@@ -87,7 +89,7 @@ Timeout::timeout(30) {
# (and that light goes off)
File.write(GEAR, GEAR_OFF)
sleep 0.5
check_motors_are_off
check_motors_are_off "Motors didn't turn off when GEAR was switched off! How dangerous!"
#check_led 0
# (Bring the RC throttle back down)
......
quad/scripts/tests/testing_library.rb
+ 19
− 19
View file @ 2a1beddc
THROTTLE_MIN = 110200
THROTTLE_MAX = 191900
THROTTLE_MIN = 0.10200
THROTTLE_MAX = 0.91900
THROTTLE_MID = (THROTTLE_MAX + THROTTLE_MIN)/2
THROTTLE_3_4 = (THROTTLE_MAX + THROTTLE_MID)/2
THROTTLE_QUAR = (THROTTLE_MID + THROTTLE_MIN)/2
THROTTLE_EIGHTH = (THROTTLE_QUAR + THROTTLE_MIN)/2
THROTTLE_16 = (THROTTLE_EIGHTH + THROTTLE_MIN)/2
MOTOR_MIN = 100000
MOTOR_MAX = 200000
GEAR_ON = 170800
GEAR_OFF = 118300
MOTOR_MIN = 0.0
MOTOR_MAX = 1.0
GEAR_ON = 0.70800
GEAR_OFF = 0.18300
GRAVITY = 4096
MOTOR1 = "virt-quad-fifos/pwm-output-motor1"
MOTOR2 = "virt-quad-fifos/pwm-output-motor2"
MOTOR3 = "virt-quad-fifos/pwm-output-motor3"
MOTOR4 = "virt-quad-fifos/pwm-output-motor4"
MOTOR1 = "virt-quad-fifos/motor1"
MOTOR2 = "virt-quad-fifos/motor2"
MOTOR3 = "virt-quad-fifos/motor3"
MOTOR4 = "virt-quad-fifos/motor4"
GEAR = "virt-quad-fifos/pwm-input-gear"
THROTTLE = "virt-quad-fifos/pwm-input-throttle"
GEAR = "virt-quad-fifos/rc-gear"
THROTTLE = "virt-quad-fifos/rc-throttle"
LED = "virt-quad-fifos/mio7-led"
......@@ -43,15 +43,15 @@ def read_fifo_num(f)
end
# Utility functions
def check_motors_are_off
def check_motors_are_off(msg)
motor1 = read_fifo_num(MOTOR1)
motor2 = read_fifo_num(MOTOR2)
motor3 = read_fifo_num(MOTOR3)
motor4 = read_fifo_num(MOTOR4)
assert_operator motor1, :<=, THROTTLE_MIN
assert_operator motor2, :<=, THROTTLE_MIN
assert_operator motor3, :<=, THROTTLE_MIN
assert_operator motor4, :<=, THROTTLE_MIN
assert_operator(motor1, :<=, THROTTLE_MIN, msg)
assert_operator(motor2, :<=, THROTTLE_MIN, msg)
assert_operator(motor3, :<=, THROTTLE_MIN, msg)
assert_operator(motor4, :<=, THROTTLE_MIN, msg)
end
def get_motor_averages
......@@ -71,9 +71,9 @@ def get_motor_averages
average
end
def check_led(is_on)
def check_led(is_on, msg)
led = read_fifo_num(LED)
assert_equal(is_on, led)
assert_equal(is_on, led, msg)
end
def delay_spin_cursor(delay)
......
quad/src/computation_graph/computation_graph.c
+ 7
− 8
View file @ 2a1beddc
......@@ -102,18 +102,16 @@ struct node_src graph_get_source(struct computation_graph *graph, int node_id, i
int graph_add_node(struct computation_graph *graph,
const char* name,
const struct graph_node_type *type,
void *state) {
const struct graph_node_type *type) {
assert(type->n_inputs <= GRAPH_MAX_INPUTS);
int new_id = graph->n_nodes;
return graph_add_node_id(graph, new_id, name, type, state);
return graph_add_node_id(graph, new_id, name, type);
}
int graph_add_node_id(struct computation_graph *graph,
int id,
const char *name,
const struct graph_node_type *type,
void *state) {
const struct graph_node_type *type) {
if (id >= graph->size) {
size_t old_size = graph->size;
size_t new_size = old_size == 0 ? 8 : id * 2; // Hold twice the given ID
......@@ -135,16 +133,17 @@ int graph_add_node_id(struct computation_graph *graph,
struct graph_node *new_node = &graph->nodes[id];
new_node->name = strdup(name);
new_node->type = type;
new_node->state = state;
new_node->state = malloc(type->state_size);
new_node->n_children = 0;
new_node->updated = 1;
new_node->output_values = malloc(type->n_outputs * sizeof(double));
new_node->output_values = calloc(type->n_outputs, sizeof(double));
new_node->param_values = calloc(type->n_params, sizeof(double));
new_node->input_srcs = malloc(type->n_inputs * sizeof(struct node_src));
// Check that malloc succeeded in every case which memory was requested
if ((type->n_outputs && !new_node->output_values) ||
(type->n_params && !new_node->param_values) ||
(type->n_inputs && !new_node->input_srcs)) {
(type->n_inputs && !new_node->input_srcs) ||
(type->state_size && !new_node->state)) {
return -1;
}
int i;
......
quad/src/computation_graph/computation_graph.h
+ 10
− 4
View file @ 2a1beddc
......@@ -4,6 +4,10 @@
#include <stdio.h>
#include <math.h>
#ifdef __cplusplus
extern "C" {
#endif
typedef void (*execute_node_t)(void *state,
const double* params,
const double *inputs,
......@@ -87,8 +91,7 @@ struct node_src graph_get_source(struct computation_graph *graph, int node_id, i
*/
int graph_add_node(struct computation_graph *graph,
const char *name,
const struct graph_node_type *type,
void *state);
const struct graph_node_type *type);
/*
* Similar to graph_add_node, but adds with a specific ID
......@@ -99,8 +102,7 @@ int graph_add_node(struct computation_graph *graph,
int graph_add_node_id(struct computation_graph *graph,
int id,
const char *name,
const struct graph_node_type *type,
void *state);
const struct graph_node_type *type);
/*
* Returns the value at the output of the requested node for the requested output.
......@@ -138,4 +140,8 @@ int graph_node_exists(const struct computation_graph *graph, int node_id);
*/
int export_dot(const struct computation_graph* graph, FILE* of, int print_outputs);
#ifdef __cplusplus
}
#endif
#endif // __COMPUTATION_GRAPH_H__
quad/src/computation_graph/test/test_computation_graph.c
+ 3
− 3
View file @ 2a1beddc
......@@ -244,13 +244,13 @@ int graph_test_get_source_null() {
int graph_test_add_by_id() {
struct computation_graph *graph = create_graph();
int desired_id = 87;
int add_block = graph_add_node_id(graph, desired_id, "Add", &node_add_type, NULL);
int add_block = graph_add_node_id(graph, desired_id, "Add", &node_add_type);
if (add_block != desired_id) {
return -1;
}
int const1 = graph_add_node_id(graph, 12, "const1", &node_const_type, NULL);
int const1 = graph_add_node_id(graph, 12, "const1", &node_const_type);
graph_set_param_val(graph, const1, CONST_SET, 3.5);
int const2 = graph_add_node_id(graph, 123, "const2", &node_const_type, NULL);
int const2 = graph_add_node_id(graph, 123, "const2", &node_const_type);
graph_set_param_val(graph, const2, CONST_SET, 2.5);
graph_set_source(graph, add_block, ADD_SUMMAND1, const1, CONST_VAL);
graph_set_source(graph, add_block, ADD_SUMMAND2, const2, CONST_VAL);
......
quad/src/gen_diagram/network.dot
+ 13
− 2
View file @ 2a1beddc
......@@ -3,12 +3,12 @@ rankdir="LR"
"Roll PID"[shape=record
label="<f0>Roll PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=35.000] |<f5> [Ki=0.000] |<f6> [Kd=1.000] |<f7> [alpha=0.880]"]
"Roll" -> "Roll PID":f1 [label="Constant"]
"Y Vel PID" -> "Roll PID":f2 [label="Correction"]
"Yaw Correction" -> "Roll PID":f2 [label="Rotated Y"]
"Ts_IMU" -> "Roll PID":f3 [label="Constant"]
"Pitch PID"[shape=record
label="<f0>Pitch PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=35.000] |<f5> [Ki=0.000] |<f6> [Kd=1.000] |<f7> [alpha=0.880]"]
"Pitch trim add" -> "Pitch PID":f1 [label="Sum"]
"X Vel PID" -> "Pitch PID":f2 [label="Correction"]
"Yaw Correction" -> "Pitch PID":f2 [label="Rotated X"]
"Ts_IMU" -> "Pitch PID":f3 [label="Constant"]
"Yaw PID"[shape=record
label="<f0>Yaw PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=2.600] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
......@@ -67,6 +67,12 @@ label="<f0>Roll |<f1> [Constant=0.000]"]
label="<f0>Yaw |<f1> [Constant=0.000]"]
"Lidar"[shape=record
label="<f0>Lidar |<f1> [Constant=0.000]"]
"Flow Vel X"[shape=record
label="<f0>Flow Vel X |<f1> [Constant=0.000]"]
"Flow Vel y"[shape=record
label="<f0>Flow Vel y |<f1> [Constant=0.000]"]
"Flow Quality"[shape=record
label="<f0>Flow Quality |<f1> [Constant=0.000]"]
"Pitch trim"[shape=record
label="<f0>Pitch trim |<f1> [Constant=0.045]"]
"Pitch trim add"[shape=record
......@@ -132,6 +138,11 @@ label="<f0>X Vel Clamp |<f1> --\>Bounds in |<f2> [Min=-2.000] |<f3> [Max=2.000]
"Y vel Clamp"[shape=record
label="<f0>Y vel Clamp |<f1> --\>Bounds in |<f2> [Min=-2.000] |<f3> [Max=2.000]"]
"Y pos PID" -> "Y vel Clamp":f1 [label="Correction"]
"Yaw Correction"[shape=record
label="<f0>Yaw Correction |<f1> --\>Current Yaw |<f2> --\>X Position |<f3> --\>Y Position"]
"Yaw" -> "Yaw Correction":f1 [label="Constant"]
"X Vel PID" -> "Yaw Correction":f2 [label="Correction"]
"Y Vel PID" -> "Yaw Correction":f3 [label="Correction"]
"Signal Mixer"[shape=record
label="<f0>Signal Mixer |<f1> --\>Throttle |<f2> --\>Pitch |<f3> --\>Roll |<f4> --\>Yaw"]
"T trim add" -> "Signal Mixer":f1 [label="Sum"]
......
quad/src/gen_diagram/network.png
+ 0
− 0
View replaced file @ 615796cc View file @ 2a1beddc
quad/src/gen_diagram/network.png

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quad/src/gen_diagram/network.png

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quad/src/gen_diagram/network.png
quad/src/gen_diagram/network.png
quad/src/gen_diagram/network.png
quad/src/gen_diagram/network.png
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quad/src/graph_blocks/graph_blocks.c
+ 3
− 8
View file @ 2a1beddc
......@@ -11,7 +11,8 @@ const struct graph_node_type* blockDefs[MAX_BLOCK_TYPES] =
&node_accum_type,
&node_bounds_type,
&node_mixer_type,
&node_pid_type
&node_pid_type,
&node_yaw_rot_type
};
......@@ -21,13 +22,7 @@ int graph_add_defined_block(struct computation_graph* graph, int type_id, const
return -1;
}
const struct graph_node_type *block_type = blockDefs[type_id];
void* state = NULL;
// Allocate the state struct for this node, if necessary
if (block_type->state_size) {
state = malloc(block_type->state_size);
if (!state) {return -1;} // Check for malloc failure
}
// Use the computation graph implementation's add node function
return graph_add_node(graph, name, block_type, state);
return graph_add_node(graph, name, block_type);
}
\ No newline at end of file
quad/src/graph_blocks/graph_blocks.h
+ 2
− 0
View file @ 2a1beddc
......@@ -10,6 +10,7 @@
#include "node_bounds.h"
#include "node_mixer.h"
#include "node_pid.h"
#include "node_yaw_rot.h"
/*
* ---------- How-To ------------
......@@ -35,6 +36,7 @@ enum BlockTypes {
BLOCK_BOUNDS, // 05
BLOCK_MIXER, // 06
BLOCK_PID, // 07
BLOCK_YAW_ROT, // 08
// <-- Insert new block type here
MAX_BLOCK_TYPES
};
......
quad/src/graph_blocks/node_accumulator.c
+ 0
− 7
View file @ 2a1beddc
......@@ -32,10 +32,3 @@ const struct graph_node_type node_accum_type = {
.type_id = BLOCK_ACCUMULATE
};
int graph_add_node_accum(struct computation_graph *graph, const char* name) {
struct accum_state* node_state = malloc(sizeof(struct accum_state));
if (sizeof(struct accum_state) && !node_state) {
return -1; // malloc failed
}
return graph_add_node(graph, name, &node_accum_type, node_state);
}
quad/src/graph_blocks/node_accumulator.h
+ 0
− 2
View file @ 2a1beddc
......@@ -3,8 +3,6 @@
#include "computation_graph.h"
#include "graph_blocks.h"
int graph_add_node_accum(struct computation_graph *graph, const char* name);
extern const struct graph_node_type node_accum_type;
enum graph_node_accum_inputs {
......
quad/src/graph_blocks/node_add.c
+ 0
− 3
View file @ 2a1beddc
......@@ -22,6 +22,3 @@ const struct graph_node_type node_add_type = {
.type_id = BLOCK_ADD
};
int graph_add_node_add(struct computation_graph *graph, const char* name) {
return graph_add_node(graph, name, &node_add_type, NULL);
}
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