打印_battery_status.scale

2023-05-16

在px4的姿态控制中，publish控制量时代码乘以了一个_battery_status.scale，

                                        /* scale effort by battery status */
				if (_params.bat_scale_en && _battery_status.scale > 0.0f) {
					for (int i = 0; i < 4; i++) {
						_actuators.control[i] *= _battery_status.scale;
					}
				}

不知道代表什么意思，于是想办法把它打印出来，借用洛神提供的ubantu14.04编译环境，地址（https://github.com/luoshi006/luoshi006_communication/blob/master/CSDN_blog/PX4/PX4%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%EF%BC%88Ubuntu%201404%EF%BC%89.md），这个编译环境提供了很多有用的工具。这里采用px4提供的px4_simple_app打印，编译上传到飞控后，将飞控和地面站qgc连接；将电池经降压模块降压后连接到飞控，通过地面站的nsh运行px4_simple_app输出结果输出结果

代码：

__EXPORT int px4_simple_app_main(int argc, char *argv[]);
int px4_simple_app_main(int argc, char *argv[])
{
	PX4_INFO("Hello Sky!");
        int _actuators_0_sub = orb_subscribe(ORB_ID(actuator_controls_0));
        int _battery_status_sub = orb_subscribe(ORB_ID(battery_status));
	    struct battery_status_s	_battery_status;
        struct actuator_controls_s	_actuators01;
        orb_copy(ORB_ID(battery_status), _battery_status_sub, &_battery_status);
        orb_copy(ORB_ID(actuator_controls_0), _actuators_0_sub, &_actuators01);
        bool updated;
	orb_check(_battery_status_sub, &updated);
	 if (updated) {
               orb_copy(ORB_ID(battery_status), _battery_status_sub, &_battery_status);
	           }
     orb_check(_actuators_0_sub, &updated);
	 if (updated) {
               orb_copy(ORB_ID(actuator_controls_0), _actuators_0_sub, &_actuators01);
	           }
        static int error_counter = 1;
        int counter =1;
        while (counter < 2)
             {  
                   if (error_counter == 1)
                         {   error_counter ++;
                         }
                   else if (error_counter <= 500)
                         {   error_counter ++;
                         }
                      else 
                         {   error_counter = 1;
                                    counter++;
                         PX4_INFO("_actuators01.control:\t%8.4f\t%8.4f\t%8.4f\t%8.4f\n",
					             (double)_actuators01.control[0],
					             (double)_actuators01.control[1],
					             (double)_actuators01.control[2],
                                 (double)_actuators01.control[3]);
                         PX4_INFO("_battery_status.scale:\t%8.4f\t%8.4f\n",
                            (double)_battery_status.scale ,                                
                            (double)_battery_status.voltage_filtered_v);
                                             
                             for (int i = 0; i < 4; i++){
	                         PX4_INFO("_actuators01.control/_battery_status.scale:\t%8.4f\n",                                     
		                         (double)_actuators01.control[i]/(double)_battery_status.scale
                                          );
                            }
                      }                         
	    }
	PX4_INFO("exiting");

	return 0;
}

截取的结果：

12.6V

INFO [px4_simple_app] _actuators01.control: -0.0273 -0.0129 -1.0473 0.0000