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Code Issues Releases Activity

LP-5 - exclude AH from outerloop

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This commit is contained in:
a*morale 2015-07-14 01:59:59 +02:00
parent 62a585c188
commit 1ef9fc51d6
1 changed files with 5 additions and 1 deletions
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6
flight/modules/Stabilization/outerloop.c
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@ -105,8 +105,9 @@ static void stabilizationOuterloopTask()
int t;
float dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
StabilizationStatusOuterLoopOptions newThrustMode = StabilizationStatusOuterLoopToArray(enabled)[STABILIZATIONSTATUS_OUTERLOOP_THRUST];
bool reinit = (newThrustMode != previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST]);
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
// Trigger a disable message to the alt hold on reinit to prevent that loop from running when not in use.
if (reinit) {
if (previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE ||
@ -117,17 +118,20 @@ static void stabilizationOuterloopTask()
}
}
}
#endif
// update previous mode
previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = newThrustMode;
// calculate the thrust desired
switch (newThrustMode) {
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE:
rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationAltitudeHold(stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST], ALTITUDEHOLD, reinit);
break;
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO:
rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationAltitudeHold(stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST], ALTITUDEVARIO, reinit);
break;
#endif
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
case STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS:
default: