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Code Issues Releases Activity

OP-1898 VelocityRoam gets its own MaxRollPitch

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This allows smoother velocityroam flight
This commit is contained in:
abeck70 2015-05-22 21:23:10 +10:00
parent c272c4d4fc
commit 064a5e831b
2 changed files with 3 additions and 2 deletions
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4
flight/modules/PathFollower/vtolvelocitycontroller.cpp
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@ -113,7 +113,7 @@ void VtolVelocityController::SettingsUpdated(void)
controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP); controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward); controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->VelocityRoamMaxRollPitch, vtolPathFollowerSettings->VelocityRoamMaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
} }
int32_t VtolVelocityController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings) int32_t VtolVelocityController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
@ -172,7 +172,7 @@ int8_t VtolVelocityController::UpdateStabilizationDesired(__attribute__((unused)
float angle_radians = DEG2RAD(attitudeState.Yaw); float angle_radians = DEG2RAD(attitudeState.Yaw);
float cos_angle = cosf(angle_radians); float cos_angle = cosf(angle_radians);
float sine_angle = sinf(angle_radians); float sine_angle = sinf(angle_radians);
float maxPitch = vtolPathFollowerSettings->MaxRollPitch; float maxPitch = vtolPathFollowerSettings->VelocityRoamMaxRollPitch;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE; stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch); stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch);
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE; stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;

1
shared/uavobjectdefinition/vtolpathfollowersettings.xml
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@ -18,6 +18,7 @@
<field name="EmergencyFallbackAttitude" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,-20.0"/> <field name="EmergencyFallbackAttitude" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,-20.0"/>
<field name="EmergencyFallbackYawRate" units="(deg/s)/deg" type="float" elementnames="kP,Max" defaultvalue="2.0, 30.0"/> <field name="EmergencyFallbackYawRate" units="(deg/s)/deg" type="float" elementnames="kP,Max" defaultvalue="2.0, 30.0"/>
<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="25"/> <field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
<field name="VelocityRoamMaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="50"/> <field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="50"/>
<field name="BrakeRate" units="m/s2" type="float" elements="1" defaultvalue="2.5"/> <field name="BrakeRate" units="m/s2" type="float" elements="1" defaultvalue="2.5"/>
<field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/> <field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/>