rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-18 08:54:15 +01:00
Code Issues Releases Activity

Merge branch 'abeck/nano-pathfollower' into rel-nano-15.05

Browse Source
This commit is contained in:
abeck70 2015-05-29 21:51:33 +10:00
commit 10641a6b8a
5 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/libraries/plans.c
View File

@ -823,7 +823,7 @@ void plan_run_AutoCruise()
#define ASSISTEDCONTROL_TIMETOSTOP_MINIMUM 0.2f // seconds
#define ASSISTEDCONTROL_TIMETOSTOP_MAXIMUM 9.0f // seconds
#define ASSISTEDCONTROL_DELAY_TO_BRAKE 1.0f // seconds
#define ASSISTEDCONTROL_TIMEOUT_MULTIPLIER 2.0f // actual deceleration rate can be 50% of desired...timeouts need to cater for this
#define ASSISTEDCONTROL_TIMEOUT_MULTIPLIER 4.0f // actual deceleration rate can be 50% of desired...timeouts need to cater for this
void plan_setup_assistedcontrol()
{
PositionStateData positionState;

2
flight/modules/PathFollower/vtolbrakefsm.cpp
View File

@ -62,7 +62,7 @@ extern "C" {
// Private constants
#define TIMER_COUNT_PER_SECOND (1000 / vtolPathFollowerSettings->UpdatePeriod)
#define BRAKE_FRACTIONALPROGRESS_STARTVELOCITYCHECK 0.95f
#define BRAKE_EXIT_VELOCITY_LIMIT 0.2f
#define BRAKE_EXIT_VELOCITY_LIMIT 0.15f
VtolBrakeFSM::PathFollowerFSM_BrakeStateHandler_T VtolBrakeFSM::sBrakeStateTable[BRAKE_STATE_SIZE] = {
[BRAKE_STATE_INACTIVE] = { .setup = 0, .run = 0 },

2
flight/modules/Stabilization/altitudeloop.cpp
View File

@ -177,8 +177,8 @@ static void altitudeHoldTask(void)
break;
}
AltitudeHoldStatusSet(&altitudeHoldStatus);
thrustDemand = local_thrustDemand;
AltitudeHoldStatusSet(&altitudeHoldStatus);
}
static void VelocityStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)

4
shared/uavobjectdefinition/altitudeholdsettings.xml
View File

@ -5,8 +5,8 @@
<field name="ThrustExp" units="" type="uint8" elements="1" defaultvalue="128" />
<field name="ThrustRate" units="m/s" type="float" elements="1" defaultvalue="5" />
<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.3"/>
<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.25, 0.005, 0.95"/>
<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.7"/>
<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.3, 1.0, 0.0001, 0.9"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

4
shared/uavobjectdefinition/vtolpathfollowersettings.xml
View File

@ -18,7 +18,7 @@
<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="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="50"/>
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="20"/>
<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="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="18.0, 0.0, 0.001, 0.95"/>
@ -26,7 +26,7 @@
<field name="LandVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
<field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
<field name="VelocityRoamMaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
<field name="VelocityRoamHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="8.0, 0.5, 0.001, 0.95"/>
<field name="VelocityRoamHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="12.0, 0.5, 0.001, 0.95"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>