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Control Signals
Posted: Tue Jul 21, 2020 12:28 am
by EduardoAguilar
Hi guys!!
I have some questions about the file power_distribution_stock.c
In this file we send motorPower to motors but I don't know what are the unites.
Are Newton Meter?
And Can I to obtain the motorPower information?
Thank you!!
Re: Control Signals
Posted: Tue Jul 21, 2020 12:06 pm
by kimberly
The motor power is more of a thrust percentage mapped to a uint16_t, where 0 is no trust and 65535 is full thrust. Its not really a unit in that sense.
Here is a page with some investigations (not converted to the new documentation structure yet):
https://wiki.bitcraze.io/misc:investigations:thrust
Re: Control Signals
Posted: Wed Jul 22, 2020 4:06 pm
by EduardoAguilar
Thank you so much Kimberly!!
Re: Control Signals
Posted: Tue Aug 25, 2020 2:09 pm
by EduardoAguilar
Hi Kimberly!!
Can I see or obtain the information about uint16_t ?,
I want to see what is the thrust of each motor.
Thank you
Re: Control Signals
Posted: Tue Aug 25, 2020 2:33 pm
by kimberly
This is a datatype, which is important to know for embedded programming. A uint16_t is an unsigned integer of 16 bit (2 bytes) long. Check out this link for the
ranges but c coding guides should be able to explain this too on the internet.
Re: Control Signals
Posted: Wed Aug 26, 2020 9:34 pm
by EduardoAguilar
Hi Kimberly!!
Thank you and sorry for the delay.
So here in power_distribution_stock.c
Code: Select all
motorPower.m1 = limitThrust(control->thrust - r + p + control->yaw);
motorPower.m2 = limitThrust(control->thrust - r - p - control->yaw);
motorPower.m3 = limitThrust(control->thrust + r - p + control->yaw);
motorPower.m4 = limitThrust(control->thrust + r + p - control->yaw);
Can I observer what is the information for each motor (motorPower.m1,m4)? or in this script i just can observer the uint16_t information?
Re: Control Signals
Posted: Tue Sep 01, 2020 1:47 pm
by kimberly
Not exactly sure what you are looking for, but these values are defined as loggroups
here , which you can see in the
plotter in the cfclient
Re: Control Signals
Posted: Mon Jul 26, 2021 4:01 pm
by DarkKnight
kimberly wrote: ↑Tue Jul 21, 2020 12:06 pm
The motor power is more of a thrust percentage mapped to a uint16_t, where 0 is no trust and 65535 is full thrust. Its not really a unit in that sense.
Here is a page with some investigations (not converted to the new documentation structure yet):
https://wiki.bitcraze.io/misc:investigations:thrust
Hello,
Is there anyway to know the standard deviation of the value of the stabilizer.thrust?
Re: Control Signals
Posted: Tue Jul 27, 2021 10:04 am
by kimberly
Hi! @darkknight Could you please start a new thread? This is a slightly different topic of what the original poster was asking about, also its a year old.
Re: Control Signals
Posted: Thu Aug 05, 2021 9:29 pm
by DarkKnight
Hi, @kimberly,
Here is the new topic
viewtopic.php?f=11&t=4999, could you help me take a look at it?