Kconfig updates

bindings/setup.py

@@ -26,7 +26,7 @@
     "src/utils/src/filter.c",
     "src/utils/src/num.c",
     "src/modules/src/controller_mellinger.c",
-    "src/modules/src/power_distribution_stock.c",
+    "src/modules/src/power_distribution_quadrotor.c",
 ]
 
 cffirmware = Extension(

configs/bolt_defconfig

@@ -1,5 +1,4 @@
 CONFIG_PLATFORM_BOLT=y
 
-CONFIG_ESTIMATOR=any
-CONFIG_CONTROLLER=Any
-CONFIG_POWER_DISTRIBUTION=stock
+CONFIG_ESTIMATOR_ANY=y
+CONFIG_CONTROLLER_ANY=y

configs/cfbl_defconfig

@@ -1,5 +1,4 @@
 CONFIG_MOTORS_ESC_PROTOCOL_DSHOT=y
 
-CONFIG_ESTIMATOR=any
-CONFIG_CONTROLLER=Any
-CONFIG_POWER_DISTRIBUTION=stock
+CONFIG_ESTIMATOR_ANY=y
+CONFIG_CONTROLLER_ANY=y

configs/tag_defconfig

@@ -1,8 +1,7 @@
 CONFIG_PLATFORM_TAG=y
 
-CONFIG_ESTIMATOR=any
-CONFIG_CONTROLLER=Any
-CONFIG_POWER_DISTRIBUTION=stock
+CONFIG_ESTIMATOR_ANY=y
+CONFIG_CONTROLLER_ANY=y
 
-CONFIG_DECK_FORCE=bcDWM1000
+CONFIG_DECK_FORCE="bcDWM1000"
 CONFIG_SENSORS_IGNORE_BAROMETER_FAIL=y

docs/development/create_platform.md

@@ -195,19 +195,17 @@ To make it easier for people to build for `RINCEWIND` we can add a `defconfig` f
 ```Makefile
 CONFIG_PLATFORM_BOLT=y
 
-CONFIG_ESTIMATOR=any
-CONFIG_CONTROLLER=Any
-CONFIG_POWER_DISTRIBUTION=stock
+CONFIG_ESTIMATOR_ANY=y
+CONFIG_CONTROLLER_ANY=y
 ```
 
 Based on this a start of `rincewind_defconfig` could be:
 
 ```Makefile
 CONFIG_PLATFORM_RINCEWIND=y
 
-CONFIG_ESTIMATOR=any
-CONFIG_CONTROLLER=Any
-CONFIG_POWER_DISTRIBUTION=stock
+CONFIG_ESTIMATOR_ANY=y
+CONFIG_CONTROLLER_ANY=y
 ```
 
 Then `RINCEWIND` platform could be built by:
@@ -224,4 +222,59 @@ $ make -j 12
 [...]
 ```
 
+## Need a different power distribution?
+
+Suppose our new platform is a car with 4 wheels, then we will need a new power distribution function, that is
+the translation from roll, pitch and yaw to motor power. The default implementation can be found in
+`src/modules/src/power_distribution_quadrotor.c` but now we need to write a new function that works for cars.
+
+The first step is to add a car power distrbution setting to the configuration.
+In the standard configuration, the quadrotor power distribution is the only option and it is used by all platforms.
+Edit `src/modules/src/Kconfig` and
+find the location where the power distribution is configured
+
+```Makefile
+choice
+    prompt "Type of power distribution"
+    default POWER_DISTRIBUTION_QUADROTOR
+
+config POWER_DISTRIBUTION_QUADROTOR
+    bool "Quadrotor power distribution"
+    depends on PLATFORM_CF2 || PLATFORM_BOLT || PLATFORM_TAG
+    help
+        Power distribution function for quadrotors
+
+endchoice
+```
+Now add a new car distribution setting and make it available for your platform.
+
+```Makefile
+choice
+    prompt "Type of power distribution"
+    default POWER_DISTRIBUTION_QUADROTOR
+
+config POWER_DISTRIBUTION_QUADROTOR
+    bool "Quadrotor power distribution"
+    depends on PLATFORM_CF2 || PLATFORM_BOLT || PLATFORM_TAG
+    help
+        Power distribution function for quadrotors
+
+config POWER_DISTRIBUTION_CAR
+    bool "Car power distribution"
+    depends on PLATFORM_RINCEWIND
+    help
+        Power distribution function for cars
+
+endchoice
+```
+
+The next step is to add an implementation of the power distribution function. Copy
+`power_distribution_quadrotor.c` into a new file, `power_distribution_car.c` and modify the
+`powerDistribution()` function to fit your needs.
+
+The final step is to add the c file to the build. Open `src/modules/src/Kbuild` and add your new file.
+```Makefile
+obj-$(CONFIG_POWER_DISTRIBUTION_CAR) += power_distribution_car.o
+```
+
 And you are done! You have created your own platform, good job!

docs/development/howto.md

@@ -71,7 +71,7 @@ Decks can have a memory that contains its name. In our case the hello
 driver would be initialized only when a deck identified as \"myHello\"
 is installed on the Crazyflie. For development purpose it is possible to
 force enabling a deck driver with a compile flag. To do so set the
-`CONFIG_DECK_FORCE` config option to `myHello` in your `.config` either
+`CONFIG_DECK_FORCE` config option to `"myHello"` in your `.config` either
 by hand or using `make menuconfig`.
 
 `CONFIG_DEBUG=y` allows to get more information from the Crazyflie console when

docs/development/oot.md

@@ -38,7 +38,7 @@ The `Kbuild` file in the `$(OOT)` folder should point out your source files:
 obj-y += your_estimator_out_of_tree.o
 ```
 
-It can also add point out another folder where the code resides:
+It can also point out another folder where the code resides:
 
 ```Makefile
 obj-y += src/

docs/functional-areas/sensor-to-control/controllers.md

@@ -40,7 +40,7 @@ Here are the different loops of the cascaded PID explained in more detail.
 
 ### Attitude Rate PID controller
 
-The attitude rate PID controller is the one that directly controls the attitude rate. It receives almost directly the gyroscope rates (through a bit of filtering first) takes the error between the desired attitude rate as input. This output the commands that is send directly to the power distribution `power_distribution_stock.c`. The control loop runs at 500 Hz.
+The attitude rate PID controller is the one that directly controls the attitude rate. It receives almost directly the gyroscope rates (through a bit of filtering first) takes the error between the desired attitude rate as input. This output the commands that is send directly to the power distribution `power_distribution_quadrotor.c`. The control loop runs at 500 Hz.
 
 Check the implementation details in `attitude_pid_controller.c` in `attitudeControllerCorrectRatePID()`.
 
@@ -55,4 +55,3 @@ Check the implementation details in `attitude_pid_controller.c` in `attitudeCont
 The most outer-loop of the cascaded PID controller is the position and velocity controller. It receives position or velocity input from a commander which are handled, since it is possible to set in the variable `setpoint_t` which  stabilization mode to use `stab_mode_t` (either position:  `modeAbs` or `modeVelocity`). These can be found in `stabilizer_types.h`. The control loop runs at 100 Hz.
 
 Check the implementation details in `position_controller_pid.c` in `positionController()` and  `velocityController()`.
-

docs/functional-areas/sensor-to-control/index.md

@@ -81,17 +81,9 @@ Go to the [Commander page](commanders_setpoints.md), for more in-depth informati
 After the state controller has send out its commands, this is not the end of the line yet.
 The controllers send out their commands relating to their yaw, roll and pitch angles.
 How the motors should respond in order to adhere these attitude based commands depends on a few factors:
-  * Quadrotor configuration (found in: `power_distribution_stock.c`:
-    * x-configuration: The body fixed coordinate system's x-axis is pointed in between two propellors (Default)
-    * +-configuration: The body fixed coordinate system's x-axis is pointed in one propellor
   * Motors:
     * Brushed: The Crazyflie has brushed motors, of which there is battery compensation function enabled. Check out `motors.c` to learn more. Also checkout the [PWM to Thrust investigations](/docs/functional-areas/pwm-to-thrust.md) of those same motors.
     * Brushless: The Bolt enables the control of brushless motors. Checkout the[ product page of the Bolt](https://www.bitcraze.io/products/crazyflie-bolt/) for more information.
 
-
-
 ## Configuring Controllers and Estimators
 Go to this [configuration page](configure_estimator_controller.md), if you would like to configure different controllers and estimators,
-
-
-

docs/userguides/deck.md

@@ -73,7 +73,7 @@ obj-y += myled.o
 The deck driver will be initialized only if a deck is connected with the
 right OW memory content. During development it is possible to force the
 initialization of a deck by setting the `CONFIG_DECK_FORCE` config option
-to `meMyled` in your `.config` either by hand or using `make menuconfig`.
+to `"meMyled"` in your `.config` either by hand or using `make menuconfig`.
 
 ### Driver declaration API
 

src/config/config.h

@@ -7,7 +7,7 @@
  *
  * Crazyflie control firmware
  *
- * Copyright (C) 2011-2012 Bitcraze AB
+ * Copyright (C) 2011-2022 Bitcraze AB
  *
  * This program is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -48,22 +48,18 @@
 
 #define PROTOCOL_VERSION 5
 
-#ifdef STM32F4XX
-  #define QUAD_FORMATION_X
-
-  #define CONFIG_BLOCK_ADDRESS    (2048 * (64-1))
-  #define MCU_ID_ADDRESS          0x1FFF7A10
-  #define MCU_FLASH_SIZE_ADDRESS  0x1FFF7A22
-  #ifndef FREERTOS_HEAP_SIZE
-    #define FREERTOS_HEAP_SIZE      30000
-  #endif
-  #define FREERTOS_MIN_STACK_SIZE 150       // M4-FPU register setup is bigger so stack needs to be bigger
-  #define FREERTOS_MCU_CLOCK_HZ   168000000
-
-  #define configGENERATE_RUN_TIME_STATS 1
-  #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() initUsecTimer()
-  #define portGET_RUN_TIME_COUNTER_VALUE() usecTimestamp()
+#define CONFIG_BLOCK_ADDRESS    (2048 * (64-1))
+#define MCU_ID_ADDRESS          0x1FFF7A10
+#define MCU_FLASH_SIZE_ADDRESS  0x1FFF7A22
+#ifndef FREERTOS_HEAP_SIZE
+  #define FREERTOS_HEAP_SIZE      30000
 #endif
+#define FREERTOS_MIN_STACK_SIZE 150       // M4-FPU register setup is bigger so stack needs to be bigger
+#define FREERTOS_MCU_CLOCK_HZ   168000000
+
+#define configGENERATE_RUN_TIME_STATS 1
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() initUsecTimer()
+#define portGET_RUN_TIME_COUNTER_VALUE() usecTimestamp()
 
 
 // Task priorities. Higher number higher priority

src/modules/src/Kbuild

@@ -39,7 +39,7 @@ obj-y += platformservice.o
 obj-y += position_controller_indi.o
 obj-y += position_controller_pid.o
 obj-y += position_estimator_altitude.o
-obj-y += power_distribution_stock.o
+obj-$(CONFIG_POWER_DISTRIBUTION_QUADROTOR) += power_distribution_quadrotor.o
 obj-y += pptraj_compressed.o
 obj-y += pptraj.o
 obj-y += queuemonitor.o

src/modules/src/Kconfig

@@ -124,9 +124,20 @@ config MOTORS_DEFAULT_PROP_TEST_PWM_RATIO
         drone uses full thrust for brushed motors and does not spin up brushless
         motors (for safety reasons). It is therefore advised to set this parameter
         explicitly for brushless builds to enable the motor test functionality.
-      
+
         The value specified here can also be overridden with parameters.
 
+choice
+    prompt "Type of power distribution"
+    default POWER_DISTRIBUTION_QUADROTOR
+
+config POWER_DISTRIBUTION_QUADROTOR
+    bool "Quadrotor power distribution"
+    depends on PLATFORM_CF2 || PLATFORM_BOLT || PLATFORM_TAG
+    help
+        Power distribution function for quadrotors
+endchoice
+
 endmenu
 
 menu "Parameter subsystem"
@@ -141,4 +152,3 @@ config PARAM_SILENT_UPDATES
         what you are doing.
 
 endmenu
-

src/modules/src/power_distribution_stock.c → src/modules/src/power_distribution_quadrotor.c

@@ -7,7 +7,7 @@
  *
  * Crazyflie control firmware
  *
- * Copyright (C) 2011-2016 Bitcraze AB
+ * Copyright (C) 2011-2022 Bitcraze AB
  *
  * This program is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -21,7 +21,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * power_distribution_stock.c - Crazyflie stock power distribution code
+ * power_distribution_quadrotor.c - Crazyflie stock power distribution code
  */
 
 #include "power_distribution.h"
@@ -31,7 +31,7 @@
 #include "param.h"
 #include "num.h"
 #include "autoconf.h"
-#include "config.h" // Important, since this defines QUAD_FORMATION_X
+#include "config.h"
 
 #ifndef CONFIG_MOTORS_DEFAULT_IDLE_THRUST
 #  define DEFAULT_IDLE_THRUST 0
@@ -55,23 +55,12 @@ bool powerDistributionTest(void)
 
 void powerDistribution(motors_thrust_t* motorPower, const control_t *control)
 {
-  #ifdef QUAD_FORMATION_X
-    int16_t r = control->roll / 2.0f;
-    int16_t p = control->pitch / 2.0f;
-    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);
-  #else // QUAD_FORMATION_NORMAL
-    motorPower->m1 = limitThrust(control->thrust + control->pitch +
-                               control->yaw);
-    motorPower->m2 = limitThrust(control->thrust - control->roll -
-                               control->yaw);
-    motorPower->m3 =  limitThrust(control->thrust - control->pitch +
-                               control->yaw);
-    motorPower->m4 =  limitThrust(control->thrust + control->roll -
-                               control->yaw);
-  #endif
+  int16_t r = control->roll / 2.0f;
+  int16_t p = control->pitch / 2.0f;
+  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);
 
   if (motorPower->m1 < idleThrust) {
     motorPower->m1 = idleThrust;