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Merge branch 'corvuscorax/OP-1309_Stabilization-Refactoring' into corvuscorax/OP-1259_Cruise_Control_Tweaks
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0d070a5857
@ -181,8 +181,9 @@ static void AutotuneTask(__attribute__((unused)) void *parameters)
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stabDesired.Pitch = manualControl.Pitch * stabSettings.PitchMax;
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}
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stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
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stabDesired.Yaw = manualControl.Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
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stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
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stabDesired.Yaw = manualControl.Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
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stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_THRUST] = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
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stabDesired.Thrust = manualControl.Thrust;
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switch (state) {
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@ -355,9 +355,10 @@ static void updateFixedAttitude(float *attitude)
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stabDesired.Pitch = attitude[1];
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stabDesired.Yaw = attitude[2];
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stabDesired.Thrust = attitude[3];
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stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
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stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
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stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
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StabilizationDesiredSet(&stabDesired);
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}
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@ -630,9 +631,10 @@ static uint8_t updateFixedDesiredAttitude()
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stabDesired.Yaw = 0;
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stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
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stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
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stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
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StabilizationDesiredSet(&stabDesired);
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@ -515,9 +515,10 @@ static void updateFixedAttitude(float *attitude)
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stabDesired.Pitch = attitude[1];
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stabDesired.Yaw = attitude[2];
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stabDesired.Thrust = attitude[3];
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stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
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stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
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stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
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StabilizationDesiredSet(&stabDesired);
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}
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@ -646,6 +647,7 @@ static void updateVtolDesiredAttitude(bool yaw_attitude)
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stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
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stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControlData.Yaw;
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}
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stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
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StabilizationDesiredSet(&stabDesired);
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}
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