From c1614c5c72a3c6aee990ed7c773e7becca638613 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Thu, 26 Jan 2017 18:49:56 -0600
Subject: [PATCH] Fixed issue with protection loops
It now works on the quadcopter. Messages weren't being processed in protection loop before
---
quad/sw/modular_quad_pid/src/initialize_components.c | 3 ++-
quad/sw/modular_quad_pid/src/util.h | 4 ++--
2 files changed, 4 insertions(+), 3 deletions(-)
diff --git a/quad/sw/modular_quad_pid/src/initialize_components.c b/quad/sw/modular_quad_pid/src/initialize_components.c
index e00a27b8c..913141be7 100644
--- a/quad/sw/modular_quad_pid/src/initialize_components.c
+++ b/quad/sw/modular_quad_pid/src/initialize_components.c
@@ -8,7 +8,7 @@
#include "initialize_components.h"
#include "communication.h"
-#define BENCH_TEST
+//#define BENCH_TEST
extern int Xil_AssertWait;
@@ -34,6 +34,7 @@ int protection_loops(modular_structs_t *structs)
while (!structs->user_input_struct.receivedBeginUpdate) {
send_data(MessageTypes[4].ID, MessageTypes[4].subtypes[1].ID, 0, buf, length);
+ process_received(structs);
usleep(10000);
}
diff --git a/quad/sw/modular_quad_pid/src/util.h b/quad/sw/modular_quad_pid/src/util.h
index d14ae4da4..285db6085 100644
--- a/quad/sw/modular_quad_pid/src/util.h
+++ b/quad/sw/modular_quad_pid/src/util.h
@@ -23,8 +23,8 @@
#define clock_rate 100000000
#define frequency 450
#define period_width clock_rate/frequency
-#define pulse_throttle_low clock_rate / 1000
-#define pulse_throttle_high clock_rate / 500
+#define pulse_throttle_low clock_rate / 1000 // 1ms
+#define pulse_throttle_high clock_rate / 500 // 2ms
#define MOTOR_0_PERCENT 115000
--
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