Preform a pre flight check of the actuators and validate by looking at the feedback.
No detailed description...
Example for airframe file
Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!
<module name="pfc_actuators">
b'<define name="PFC_ACTUATORS" value="{}" />\n '
b'<define name="PFC_ACTUATORS_MAX_ANGLE_ERROR" value="0.1" />\n '
b'<define name="PFC_ACTUATORS_MAX_RPM_ERROR" value="250" />\n '
b'<define name="PFC_ACTUATORS_DEBUG" value="false" />\n '
</module>
Module configuration options
Define Options
- name:
PFC_ACTUATORS
value: {}
Description: Struct containing the setup of the preflight check
- name:
PFC_ACTUATORS_MAX_ANGLE_ERROR
value: 0.1
Description: Maximum allowed angle error in radians +/-
- name:
PFC_ACTUATORS_MAX_RPM_ERROR
value: 250
Description: Maximum allowed RPM error +/-
- name:
PFC_ACTUATORS_DEBUG
value: false
Description: Enable debug output in the GCS
Module functions
Init Functions
These initialization functions are called once on startup.
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw pfc_actuators.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="pfc_actuators" dir="checks">
<doc>
<description>
Preform a pre flight check of the actuators and validate by looking at the feedback.
</description>
<define name="PFC_ACTUATORS" value="{}" description="Struct containing the setup of the preflight check"/>
<define name="PFC_ACTUATORS_MAX_ANGLE_ERROR" value="0.1" description="Maximum allowed angle error in radians +/-"/>
<define name="PFC_ACTUATORS_MAX_RPM_ERROR" value="250" description="Maximum allowed RPM error +/-"/>
<define name="PFC_ACTUATORS_DEBUG" value="false" description="Enable debug output in the GCS"/>
</doc>
<settings>
<dl_settings>
<dl_settings name="pfc_actuators">
<dl_setting var="act_start" min="0" step="1" max="1" values="OFF|START" handler="start" module="checks/pfc_actuators" type="fun"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>@datalink,preflight_checks</depends>
</dep>
<header>
<file name="pfc_actuators.h"/>
</header>
<init fun="pfc_actuators_init()"/>
<makefile>
<file name="pfc_actuators.c"/>
<test>
<define name="PFC_ACTUATORS" value="{{}}"/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
<define name="USE_UART0"/>
</test>
</makefile>
</module>