-

attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/mavlink/src/mavlink.c

@@ -19,6 +19,8 @@
 #include "../mavlink.h"
 #include "app/leddebug.h"
 
+#define ABS(x) 		(x < 0 ? -x : x)
+
 /************* Private typedefs ***********************************************************/
 
 #define NUM_MSGS (sizeof mavlinkMessageInfo / sizeof mavlinkMessageInfo[0])
@@ -128,7 +130,7 @@ bool sendMessage(uint8_t msgid)
 		mavlink_msg_error_pack(mavlinkSystem.sysid, mavlinkSystem.compid, &msg, *pErrorRegister_mavlink);
 		break;
 	case MAVLINK_MSG_ID_ODOMETRY:
-		mavlink_msg_odometry_pack(mavlinkSystem.sysid, mavlinkSystem.compid, &msg, *pOdomTimestamp_mavlink - syncOffset, *pStAngTimestamp_mavlink - syncOffset, *pVehSpdOdom_mavlink, *pVehXDistOdom_mavlink, *pVehYDistOdom_mavlink, *pVehYawAngOdom_mavlink, *pStAngAct_mavlink);
+		mavlink_msg_odometry_pack(mavlinkSystem.sysid, mavlinkSystem.compid, &msg, *pOdomTimestamp_mavlink - syncOffset, *pStAngTimestamp_mavlink - syncOffset, ABS(*pVehSpdOdom_mavlink), *pVehXDistOdom_mavlink, *pVehYDistOdom_mavlink, *pVehYawAngOdom_mavlink, *pStAngAct_mavlink);
 		//mavlink_msg_odometry_pack(mavlinkSystem.sysid, mavlinkSystem.compid, &msg, *pOdomTimestamp_mavlink - syncOffset, *pStAngTimestamp_mavlink - syncOffset, *pMotTrqTgtSrv_mavlink, *pVehXDistOdom_mavlink, *pVehYDistOdom_mavlink, *pVehYawAngOdom_mavlink, *pStAngAct_mavlink);
 		break;
 	case MAVLINK_MSG_ID_CMD_REQUEST_CLOCKSYNC:

attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/vehspdctrl/src/vehspdctrl.c

@@ -54,10 +54,11 @@ float *pMotTrqTgtSrv_vehspdctrl;
 #define U_DEADBAND_POSITIVE 0.001
 #define U_DEADBAND_NEGATIVE -U_DEADBAND_POSITIVE * 4
 
-#define MOTOR_LIMIT	0.085f
+#define MOTOR_LIMIT	0.12f
 #define MOTOR_FULLSTOP -10
 
 #define MIN(a, b)	(a < b ? a : b)
+#define ABS(x) 		(x < 0 ? -x : x)
 
 /************* Private static variables ***************************************************/
 static pidCtrl_t pid;
@@ -198,7 +199,7 @@ float updateMotTrqTgtSrv(float destSpeed)
 	float currSpeed = 0;	// controlled value
 
 	irq_disable();
-	currSpeed = *pVehSpdOdom_vehspdctrl;
+	currSpeed = ABS(*pVehSpdOdom_vehspdctrl);
 	irq_enable();
 
 	currSpeed = pt1_calculate(&pt1, currSpeed);

scripts/remote_control.py

@@ -4,7 +4,7 @@ from pexpect import pxssh
 from pygame.locals import *
 
 
-ODROID_HOST_ADDRESS = "10.5.36.187"
+ODROID_HOST_ADDRESS = "10.5.37.177"
 
 
 class OdroidConnection(pxssh.pxssh):
@@ -134,7 +134,7 @@ if __name__ == '__main__':
 	backwards = Button(
 		pygame.Rect(1 * (BUTTON_WIDTH + PADDING), 1 * (BUTTON_HEIGHT + PADDING), BUTTON_WIDTH, BUTTON_HEIGHT),
 		"BACKWARDS",
-		onPressed=lambda: conn.set_speed(-SPEED*4),
+		onPressed=lambda: conn.set_speed(ZERO_SPEED),
 		onReleased=lambda: conn.set_speed(ZERO_SPEED))
 
 	left = Button(