From b7efac423d9e206f00ba04a4388f818f38345b42 Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Thu, 18 May 2023 18:44:43 +0200
Subject: [PATCH] corrected bigquad deck stuff
---
crazyflie_software/crazyflie-firmware-2021.06/vendor/CMSIS | 1 +
.../crazyflie-firmware-2021.06/vendor/FreeRTOS | 1 +
crazyflie_software/crazyflie-firmware-2021.06/vendor/cmock | 1 +
.../crazyflie-firmware-2021.06/vendor/libdw1000 | 1 +
crazyflie_software/crazyflie-firmware-2021.06/vendor/unity | 1 +
.../examples/demos/swarm_demo/cload-all.sh | 0
.../demos/swarm_demo/control_tower/control_tower.py | 0
.../examples/demos/swarm_demo/control_tower/towergui.py | 0
.../src/deck/drivers/src/flowdeck_v1v2.c | 0
.../crazyflie-firmware-2021.06/src/drivers/src/motors.c | 7 +++++--
.../src/modules/src/controller_student.c | 4 ++--
.../src/modules/src/power_distribution_stock.c | 4 ++++
.../src/modules/src/student_attitude_controller.c | 6 +++---
.../crazyflie-firmware-2021.06/tools/build-docs/build-docs | 0
.../crazyflie-firmware-2021.06/tools/build/build | 0
.../crazyflie-firmware-2021.06/tools/build/check_elf | 0
.../crazyflie-firmware-2021.06/tools/build/clean | 0
.../crazyflie-firmware-2021.06/tools/build/compile | 0
.../crazyflie-firmware-2021.06/tools/build/make | 0
.../crazyflie-firmware-2021.06/tools/build/test | 0
.../tools/lighthouse/get_bs_geometry.py | 0
.../tools/lighthouse/get_lh2_calib_data.py | 0
.../tools/lighthouse/persist_bs_data.py | 0
.../tools/lighthouse/upload_config.py | 0
.../tools/make/check-for-submodules.py | 0
.../crazyflie-firmware-2021.06/tools/make/dfu-convert.py | 0
.../crazyflie-firmware-2021.06/tools/make/size.py | 0
.../crazyflie-firmware-2021.06/tools/trace/decodeItm.py | 0
.../crazyflie-firmware-2021.06/tools/utils/reboot.py | 0
.../crazyflie-firmware-2021.06/tools/utils/verify_flash.sh | 0
.../crazyflie-firmware-2021.06/vendor/CMSIS | 1 +
.../crazyflie-firmware-2021.06/vendor/FreeRTOS | 1 +
.../crazyflie-firmware-2021.06/vendor/cmock | 1 +
.../crazyflie-firmware-2021.06/vendor/libdw1000 | 1 +
.../crazyflie-firmware-2021.06/vendor/unity | 1 +
35 files changed, 24 insertions(+), 7 deletions(-)
create mode 160000 crazyflie_software/crazyflie-firmware-2021.06/vendor/CMSIS
create mode 160000 crazyflie_software/crazyflie-firmware-2021.06/vendor/FreeRTOS
create mode 160000 crazyflie_software/crazyflie-firmware-2021.06/vendor/cmock
create mode 160000 crazyflie_software/crazyflie-firmware-2021.06/vendor/libdw1000
create mode 160000 crazyflie_software/crazyflie-firmware-2021.06/vendor/unity
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/examples/demos/swarm_demo/cload-all.sh
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/examples/demos/swarm_demo/control_tower/control_tower.py
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/examples/demos/swarm_demo/control_tower/towergui.py
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/deck/drivers/src/flowdeck_v1v2.c
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build-docs/build-docs
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/build
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/check_elf
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/clean
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/compile
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/make
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/test
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/lighthouse/get_bs_geometry.py
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/lighthouse/get_lh2_calib_data.py
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/lighthouse/persist_bs_data.py
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/lighthouse/upload_config.py
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/make/check-for-submodules.py
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/make/dfu-convert.py
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/make/size.py
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/trace/decodeItm.py
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/utils/reboot.py
mode change 100644 => 100755 crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/utils/verify_flash.sh
create mode 160000 crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/CMSIS
create mode 160000 crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/FreeRTOS
create mode 160000 crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/cmock
create mode 160000 crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/libdw1000
create mode 160000 crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/unity
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/vendor/CMSIS b/crazyflie_software/crazyflie-firmware-2021.06/vendor/CMSIS
new file mode 160000
index 000000000..a65b7c9a3
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-2021.06/vendor/CMSIS
@@ -0,0 +1 @@
+Subproject commit a65b7c9a3e6502127fdb80eb288d8cbdf251a6f4
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/vendor/FreeRTOS b/crazyflie_software/crazyflie-firmware-2021.06/vendor/FreeRTOS
new file mode 160000
index 000000000..3604527e3
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-2021.06/vendor/FreeRTOS
@@ -0,0 +1 @@
+Subproject commit 3604527e3b31991c596cd420f32989ee890aca4a
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/vendor/cmock b/crazyflie_software/crazyflie-firmware-2021.06/vendor/cmock
new file mode 160000
index 000000000..cb1ad78b9
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-2021.06/vendor/cmock
@@ -0,0 +1 @@
+Subproject commit cb1ad78b974937e1ad717858fab73ec5380ef94b
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/vendor/libdw1000 b/crazyflie_software/crazyflie-firmware-2021.06/vendor/libdw1000
new file mode 160000
index 000000000..448a0efde
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-2021.06/vendor/libdw1000
@@ -0,0 +1 @@
+Subproject commit 448a0efde42a258139cc8ca61fe53ff3bb4a9b94
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/vendor/unity b/crazyflie_software/crazyflie-firmware-2021.06/vendor/unity
new file mode 160000
index 000000000..287e07696
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-2021.06/vendor/unity
@@ -0,0 +1 @@
+Subproject commit 287e076962ec711cd2bdf08364a8df9ce51e106b
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/examples/demos/swarm_demo/cload-all.sh b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/examples/demos/swarm_demo/cload-all.sh
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/examples/demos/swarm_demo/control_tower/control_tower.py b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/examples/demos/swarm_demo/control_tower/control_tower.py
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/examples/demos/swarm_demo/control_tower/towergui.py b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/examples/demos/swarm_demo/control_tower/towergui.py
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/deck/drivers/src/flowdeck_v1v2.c b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/deck/drivers/src/flowdeck_v1v2.c
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/drivers/src/motors.c b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/drivers/src/motors.c
index 47ba32d1d..83685fc2c 100644
--- a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/drivers/src/motors.c
+++ b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/drivers/src/motors.c
@@ -271,10 +271,13 @@ bool motorsTest(void)
vTaskDelay(M2T(MOTORS_TEST_DELAY_TIME_MS));*/
motorsConfigureESC();
#else
+ /*
motorsSetRatio(MOTORS[i], MOTORS_TEST_RATIO);
vTaskDelay(M2T(MOTORS_TEST_ON_TIME_MS));
motorsSetRatio(MOTORS[i], 0);
vTaskDelay(M2T(MOTORS_TEST_DELAY_TIME_MS));
+ */
+ motorsConfigureESC();
#endif
}
}
@@ -365,18 +368,18 @@ void motorsConfigureESC() {
vTaskDelay(M2T(20)); // wait 2 ms
-
-
motorMap[0]->setCompare(motorMap[0]->tim, motorsConv16ToBits_uCart23(65535));
vTaskDelay(M2T(2)); // wait 2 ms
motorMap[0]->setCompare(motorMap[0]->tim, motorsConv16ToBits_uCart23(0));
vTaskDelay(M2T(20)); // wait 2 msS
+
motorMap[1]->setCompare(motorMap[1]->tim, motorsConv16ToBits_uCart23(65535));
vTaskDelay(M2T(2)); // wait 2 ms
motorMap[1]->setCompare(motorMap[1]->tim, motorsConv16ToBits_uCart23(0));
vTaskDelay(M2T(20)); // wait 2 ms
+
motorMap[2]->setCompare(motorMap[2]->tim, motorsConv16ToBits_uCart23(65535));
vTaskDelay(M2T(2)); // wait 2 ms
motorMap[2]->setCompare(motorMap[2]->tim, motorsConv16ToBits_uCart23(0));
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/controller_student.c b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/controller_student.c
index 86b26c562..3024ce123 100644
--- a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/controller_student.c
+++ b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/controller_student.c
@@ -118,7 +118,7 @@ void controllerStudent(control_t *control, setpoint_t *setpoint, const sensorDat
}
//set desired thrust
- thrustDesired = setpoint->thrust/4;
+ thrustDesired = setpoint->thrust;
// Run the attitude controller with the measured attitude and desired attitude
@@ -152,7 +152,7 @@ void controllerStudent(control_t *control, setpoint_t *setpoint, const sensorDat
//update the attitude rate PID, given the current angular rate
//read by the gyro and the desired rate
studentAttitudeControllerCorrectRatePID(sensors->gyro.x, -sensors->gyro.y, sensors->gyro.z,
- rateDesired.roll, rateDesired.pitch, setpoint->attitudeRate.yaw,
+ rateDesired.roll, rateDesired.pitch, rateDesired.yaw,
&(control->roll), &(control->pitch), &(control->yaw));
rateDesired.yaw = setpoint->attitudeRate.yaw;
//invert yaw control
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/power_distribution_stock.c b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/power_distribution_stock.c
index edcdc8a75..c0b18057a 100644
--- a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/power_distribution_stock.c
+++ b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/power_distribution_stock.c
@@ -81,6 +81,10 @@ void powerStop()
motorsSetRatio(MOTOR_M4, 0);
}
+int scaleThrustForMicroPi(uint16_t value_in) {
+ return value_in / 4;
+}
+
void powerDistribution(const control_t *control)
{
#ifdef QUAD_FORMATION_X
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c
index 6285f129e..67beb4c56 100644
--- a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c
+++ b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c
@@ -135,13 +135,13 @@ void studentAttitudeControllerCorrectRatePID(
{
studentPidSetDesired(&pidRollRate, rollRateDesired);
- *rollCommand = saturateSignedInt16(studentPidUpdate(&pidRollRate, rollRateMeasured, true)/4);
+ *rollCommand = saturateSignedInt16(studentPidUpdate(&pidRollRate, rollRateMeasured, true));
studentPidSetDesired(&pidPitchRate, pitchRateDesired);
- *pitchCommand = saturateSignedInt16(studentPidUpdate(&pidPitchRate, pitchRateMeasured, true)/4);
+ *pitchCommand = saturateSignedInt16(studentPidUpdate(&pidPitchRate, pitchRateMeasured, true));
studentPidSetDesired(&pidYawRate, yawRateDesired);
- *yawCommand = saturateSignedInt16(studentPidUpdate(&pidYawRate, yawRateMeasured, true)/4);
+ *yawCommand = saturateSignedInt16(studentPidUpdate(&pidYawRate, yawRateMeasured, true));
}
void studentAttitudeControllerResetRollAttitudePID(void)
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build-docs/build-docs b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build-docs/build-docs
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/build b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/build
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/check_elf b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/check_elf
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/clean b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/clean
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/compile b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/compile
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/make b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/make
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/test b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/build/test
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/lighthouse/get_bs_geometry.py b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/lighthouse/get_bs_geometry.py
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/lighthouse/get_lh2_calib_data.py b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/lighthouse/get_lh2_calib_data.py
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/lighthouse/persist_bs_data.py b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/lighthouse/persist_bs_data.py
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/lighthouse/upload_config.py b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/lighthouse/upload_config.py
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/make/check-for-submodules.py b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/make/check-for-submodules.py
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/make/dfu-convert.py b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/make/dfu-convert.py
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/make/size.py b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/make/size.py
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/trace/decodeItm.py b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/trace/decodeItm.py
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/utils/reboot.py b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/utils/reboot.py
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/utils/verify_flash.sh b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/tools/utils/verify_flash.sh
old mode 100644
new mode 100755
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/CMSIS b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/CMSIS
new file mode 160000
index 000000000..a65b7c9a3
--- /dev/null
+++ b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/CMSIS
@@ -0,0 +1 @@
+Subproject commit a65b7c9a3e6502127fdb80eb288d8cbdf251a6f4
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/FreeRTOS b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/FreeRTOS
new file mode 160000
index 000000000..3604527e3
--- /dev/null
+++ b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/FreeRTOS
@@ -0,0 +1 @@
+Subproject commit 3604527e3b31991c596cd420f32989ee890aca4a
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/cmock b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/cmock
new file mode 160000
index 000000000..cb1ad78b9
--- /dev/null
+++ b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/cmock
@@ -0,0 +1 @@
+Subproject commit cb1ad78b974937e1ad717858fab73ec5380ef94b
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/libdw1000 b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/libdw1000
new file mode 160000
index 000000000..448a0efde
--- /dev/null
+++ b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/libdw1000
@@ -0,0 +1 @@
+Subproject commit 448a0efde42a258139cc8ca61fe53ff3bb4a9b94
diff --git a/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/unity b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/unity
new file mode 160000
index 000000000..287e07696
--- /dev/null
+++ b/crazyflie_software_big_quad/crazyflie-firmware-2021.06/vendor/unity
@@ -0,0 +1 @@
+Subproject commit 287e076962ec711cd2bdf08364a8df9ce51e106b
--
GitLab