2023-06-28 Model CFG 2

Owned by Anthony Bertnyk
2023-06-30
2 min read

Configuration files will be written purely with C++.

Each model + board combination will have its own set of configuration files.

Changes to the configuration will be applied during compile time.

All data in the configuration files will be constant

The configuration files will store the following data:

  • For each motor:

    • Axis (pitch, thrust, etc)

    • Direction (positive, negative)

    • Driver (PWM, DSHOT)

    • Interface identifier (Which PWM/DSHOT channel?)

  • Number of motors

  • For each sensor: (Revisit this later) Maybe a different list for each type of sensor

    • Type

    • Driver

    • Interface identifier

  • Number of sensors

  • For each compatible flight mode:

    • Flight mode subclass?

      • PID values

      • Control limits

      • (control algos) (Might not be model-dependent)

 

Implementation details

Number of files?

Data structures?

How to access data?

 

.hpp and .cpp file for each configuration

global_config.hpp file included by each model-specific config.hpp

 

Managers/ZP include config.hpp, which includes the configurations selected when compiling.

 

Motors represent as struct in global config:

  • Axis (enum)

  • Direction (enum)

  • Driver (driver class)

    • Function pointer to driver constructor

  • Interface identifier (data structure depends on driver)

Array of motor structs in model-specific config

Number of motors (uint8_t) calculated from array

 

Flight mode superclass in global config

Model-specific config defines subclass for each specific compatible flight mode

Ensures flight modes are only defined if they are compatible

PID values (struct)

control limits

min and max percentage float for each axis

 

FWManual::control() function is defined somewhere else outside the config files

 

Structure of flightmode definitions:

global_config.hpp

class flightmode{}

 

config.hpp for Model A

subclass FWManual : flightmode

subclass QuadManual : flightmode

 

config.hpp for Model B

subclass FWManual : flightmode

subclass FWAuto : flightmode

 

AM function receives flightmode parameter

 

Accessing data:

Example:

Attitude manager includes config.hpp (The specific file was already chosen by the build system)

AM accesses global motor array and number of motors

Iterates through each motor

Accesses corresponding motor driver and interface identifier

Sends command using motor driver function call, passing in the interface indentifier

Remaining issues:

Having to redundantly define flightmodes common to multiple models

Sensor data organization might need more thought

 

 

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