From 11b099b1ef333d3f3dfc118666394673c2d6eaea Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 11 Sep 2012 12:29:38 -0500 Subject: [PATCH] Stabilization: Add configuration terms for the derivative calculation to the UAVO and pass them in to the PID system. --- flight/Modules/Stabilization/stabilization.c | 3 +++ shared/uavobjectdefinition/stabilizationsettings.xml | 2 ++ 2 files changed, 5 insertions(+) diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c index 9aabff114..2e49f89cf 100644 --- a/flight/Modules/Stabilization/stabilization.c +++ b/flight/Modules/Stabilization/stabilization.c @@ -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; diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml index 7cd7de210..b1b541310 100644 --- a/shared/uavobjectdefinition/stabilizationsettings.xml +++ b/shared/uavobjectdefinition/stabilizationsettings.xml @@ -24,6 +24,8 @@ + +