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Code Issues Releases Activity

Stabilization: Add configuration terms for the derivative calculation to the UAVO and pass

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them in to the PID system.
This commit is contained in:
James Cotton 2012-09-11 12:29:38 -05:00
parent 42bbd52d68
commit 11b099b1ef
2 changed files with 5 additions and 0 deletions
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3
flight/Modules/Stabilization/stabilization.c
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@ -448,6 +448,9 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI], 0,
settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT]);
// Set up the derivative term
pid_configure_derivative(settings.DerivativeCutoff, settings.DerivativeGamma);
// Maximum deviation to accumulate for axis lock
max_axis_lock = settings.MaxAxisLock;
max_axislock_rate = settings.MaxAxisLockRate;

2
shared/uavobjectdefinition/stabilizationsettings.xml
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@ -24,6 +24,8 @@
<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="15"/>
<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>