Merge branch 'master' of https://git.ece.iastate.edu/danc/MicroCART_17-18

quad/Makefile

@@ -24,6 +24,11 @@ bins:
 zybo:
 	bash scripts/build_zybo.sh
 
+# For creating an image of the control network.
+gen_diagram:
+	$(MAKE) -C src/gen_diagram
+	bash src/gen_diagram/create_png.sh
+
 boot: $(BOOT)
 
 test:

quad/src/gen_diagram/Makefile

+TOP=../..
 
-QUAD_BLOCKS = ../src/graph_blocks
+NAME = gen_diagram
+REQLIBS = -lquad_app, -lgraph_blocks, -lcomputation_graph
 
-gen_diagram: generate.c ../src/control_algorithm.c ../src/computation_graph.c
-	gcc -o gen_diagram -I. -I../src/ generate.c ../src/computation_graph.c ../src/control_algorithm.c ../src/graph_blocks/*.c -Dread_flap=freadflap -Dget_last_loop_time=fgettime
-
-.PHONY: clean
-clean:
-	rm gen_diagram
+include $(TOP)/library.mk
\ No newline at end of file

quad/src/gen_diagram/README.md

-The gen_diagram project can create an image of the controller network. Below outlines the process of how to use it.
+The gen_diagram project can create an image of the controller network.
 
-Within the `quad/sw/modular_quad_pid` directory:
-
-1. Within the `gen_diagram` folder, run `make` to build the new code.
-2. Now execute the program with `./gen_diagram`
-3. If you have graphviz installed, you can run `dot -Tpng network.dot -o network.png` to generate a PNG file of the graph.
-
-Enjoy your new diagram!
+To make a new diagram, from the top-level quad directory, run "make gen_diagram".
+The new network.png file show up in this folder.
\ No newline at end of file

quad/src/gen_diagram/create_png.sh

 #/bin/bash
 
-make
-./gen_diagram
-
-dot -Tpng network.dot -o network.png
+dot -Tpng "$(dirname $0)/network.dot" -o "$(dirname $0)/network.png"
 

quad/src/gen_diagram/generate.c

 #include <stdio.h>
-
-#include "computation_graph.h"
-#include "node_pid.h"
-#include "node_bounds.h"
-#include "node_constant.h"
-#include "node_mixer.h"
-#include "PID.h"
 #include "control_algorithm.h"
 
-#define ROLL_PITCH_MAX_ANGLE 0.3490 // 20 degrees
-parameter_t ps;
-
-//int control_algorithm_init(parameter_t * ps);
-int freadflap(int i) {return i;}
-float fgettime() {return 0.0;}
-
 int main() {
+    parameter_t ps;
     control_algorithm_init(&ps);
     FILE* dot_fp;
     dot_fp = fopen("network.dot", "w");

quad/src/gen_diagram/network.dot

 digraph G {
 rankdir="LR"
 "Roll PID"[shape=record
-label="<f0>Roll PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=15.000] |<f5> [Ki=0.000] |<f6> [Kd=0.200]"]
-"VRPN Roll" -> "Roll PID":f1 [label="Constant"]
-"Y pos PID" -> "Roll PID":f2 [label="Correction"]
-"Ts_VRPN" -> "Roll PID":f3 [label="Constant"]
+label="<f0>Roll PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=15.000] |<f5> [Ki=0.000] |<f6> [Kd=0.200] |<f7> [alpha=0.000]"]
+"Roll" -> "Roll PID":f1 [label="Constant"]
+"RC Roll" -> "Roll PID":f2 [label="Constant"]
+"Ts_IMU" -> "Roll PID":f3 [label="Constant"]
 "Pitch PID"[shape=record
-label="<f0>Pitch PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=15.000] |<f5> [Ki=0.000] |<f6> [Kd=0.200]"]
-"VRPN Pitch" -> "Pitch PID":f1 [label="Constant"]
-"X pos PID" -> "Pitch PID":f2 [label="Correction"]
-"Ts_VRPN" -> "Pitch PID":f3 [label="Constant"]
+label="<f0>Pitch PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=15.000] |<f5> [Ki=0.000] |<f6> [Kd=0.200] |<f7> [alpha=0.000]"]
+"Pitch" -> "Pitch PID":f1 [label="Constant"]
+"RC Pitch" -> "Pitch PID":f2 [label="Constant"]
+"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]"]
+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]"]
 "Yaw" -> "Yaw PID":f1 [label="Constant"]
 "Yaw Setpoint" -> "Yaw PID":f2 [label="Constant"]
 "Ts_VRPN" -> "Yaw PID":f3 [label="Constant"]
 "Roll Rate PID"[shape=record
-label="<f0>Roll Rate PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=4600.000] |<f5> [Ki=0.000] |<f6> [Kd=550.000]"]
+label="<f0>Roll Rate PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=4600.000] |<f5> [Ki=0.000] |<f6> [Kd=550.000] |<f7> [alpha=0.000]"]
 "dPhi" -> "Roll Rate PID":f1 [label="Constant"]
 "Roll PID" -> "Roll Rate PID":f2 [label="Correction"]
 "Ts_IMU" -> "Roll Rate PID":f3 [label="Constant"]
 "Pitch Rate PID"[shape=record
-label="<f0>Pitch Rate PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=4600.000] |<f5> [Ki=0.000] |<f6> [Kd=550.000]"]
+label="<f0>Pitch Rate PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=4600.000] |<f5> [Ki=0.000] |<f6> [Kd=550.000] |<f7> [alpha=0.000]"]
 "dTheta" -> "Pitch Rate PID":f1 [label="Constant"]
 "Pitch PID" -> "Pitch Rate PID":f2 [label="Correction"]
 "Ts_IMU" -> "Pitch Rate PID":f3 [label="Constant"]
 "Yaw Rate PID"[shape=record
-label="<f0>Yaw Rate PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=435480.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000]"]
+label="<f0>Yaw Rate PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=435480.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
 "dPsi" -> "Yaw Rate PID":f1 [label="Constant"]
-"Yaw PID" -> "Yaw Rate PID":f2 [label="Correction"]
+"RC Yaw" -> "Yaw Rate PID":f2 [label="Constant"]
 "Ts_IMU" -> "Yaw Rate PID":f3 [label="Constant"]
 "X pos PID"[shape=record
-label="<f0>X pos PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=-0.015] |<f5> [Ki=-0.005] |<f6> [Kd=-0.030]"]
+label="<f0>X pos PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=-0.015] |<f5> [Ki=-0.005] |<f6> [Kd=-0.030] |<f7> [alpha=0.000]"]
 "VRPN X" -> "X pos PID":f1 [label="Constant"]
 "X Setpoint" -> "X pos PID":f2 [label="Constant"]
 "Ts_VRPN" -> "X pos PID":f3 [label="Constant"]
 "Y pos PID"[shape=record
-label="<f0>Y pos PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.015] |<f5> [Ki=0.005] |<f6> [Kd=0.030]"]
+label="<f0>Y pos PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.015] |<f5> [Ki=0.005] |<f6> [Kd=0.030] |<f7> [alpha=0.000]"]
 "VRPN Y" -> "Y pos PID":f1 [label="Constant"]
 "Y Setpoint" -> "Y pos PID":f2 [label="Constant"]
 "Ts_VRPN" -> "Y pos PID":f3 [label="Constant"]
 "Altitude PID"[shape=record
-label="<f0>Altitude PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=9804.000] |<f5> [Ki=817.000] |<f6> [Kd=7353.000]"]
+label="<f0>Altitude PID  |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=9804.000] |<f5> [Ki=817.000] |<f6> [Kd=7353.000] |<f7> [alpha=0.000]"]
 "VRPN Alt" -> "Altitude PID":f1 [label="Constant"]
 "Alt Setpoint" -> "Altitude PID":f2 [label="Constant"]
 "Ts_VRPN" -> "Altitude PID":f3 [label="Constant"]
@@ -100,11 +100,12 @@ label="<f0>RC Yaw  |<f1> [Constant=0.000]"]
 label="<f0>RC Throttle  |<f1> [Constant=0.000]"]
 "Signal Mixer"[shape=record
 label="<f0>Signal Mixer  |<f1> --\>Throttle |<f2> --\>Pitch |<f3> --\>Roll |<f4> --\>Yaw"]
+"RC Throttle" -> "Signal Mixer":f1 [label="Constant"]
 "P PWM Clamp" -> "Signal Mixer":f2 [label="Bounded"]
 "R PWM Clamp" -> "Signal Mixer":f3 [label="Bounded"]
 "Y PWM Clamp" -> "Signal Mixer":f4 [label="Bounded"]
 "Ts_IMU"[shape=record
-label="<f0>Ts_IMU  |<f1> [Constant=0.000]"]
+label="<f0>Ts_IMU  |<f1> [Constant=0.005]"]
 "Ts_VRPN"[shape=record
-label="<f0>Ts_VRPN  |<f1> [Constant=0.000]"]
+label="<f0>Ts_VRPN  |<f1> [Constant=0.040]"]
 }
\ No newline at end of file