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https://bitbucket.org/librepilot/librepilot.git
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OP-1397 Add initial support for attitude mode response (deg)
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9b189e86e4
commit
2113e1a2e1
@ -83,6 +83,7 @@
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// Private functions
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static void updatePIDs(UAVObjEvent *ev);
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static uint8_t update(float *var, float val);
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static uint8_t updateResponsiveness(uint8_t *var, float val);
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static float scale(float val, float inMin, float inMax, float outMin, float outMax);
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/**
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@ -235,6 +236,9 @@ static void updatePIDs(UAVObjEvent *ev)
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case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
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needsUpdateBank |= update(&bank.RollPI.ILimit, value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLATTITUDERESP:
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needsUpdateBank |= updateResponsiveness(&bank.RollMax, value);
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break;
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case TXPIDSETTINGS_PIDS_PITCHRATEKP:
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needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
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break;
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@ -256,6 +260,9 @@ static void updatePIDs(UAVObjEvent *ev)
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case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
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needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
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break;
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case TXPIDSETTINGS_PIDS_PITCHATTITUDERESP:
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needsUpdateBank |= updateResponsiveness(&bank.PitchMax, value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
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needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
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needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
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@ -284,6 +291,10 @@ static void updatePIDs(UAVObjEvent *ev)
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needsUpdateBank |= update(&bank.RollPI.ILimit, value);
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needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
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break;
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case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDERESP:
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needsUpdateBank |= updateResponsiveness(&bank.RollMax, value);
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needsUpdateBank |= updateResponsiveness(&bank.PitchMax, value);
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break;
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case TXPIDSETTINGS_PIDS_YAWRATEKP:
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needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
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break;
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@ -305,6 +316,9 @@ static void updatePIDs(UAVObjEvent *ev)
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case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
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needsUpdateBank |= update(&bank.YawPI.ILimit, value);
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break;
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case TXPIDSETTINGS_PIDS_YAWATTITUDERESP:
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needsUpdateBank |= updateResponsiveness(&bank.YawMax, value);
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break;
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case TXPIDSETTINGS_PIDS_GYROTAU:
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needsUpdateStab |= update(&stab.GyroTau, value);
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break;
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@ -389,6 +403,22 @@ static uint8_t update(float *var, float val)
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return 0;
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}
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/**
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* Updates var using val if needed.
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* \returns 1 if updated, 0 otherwise
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*/
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static uint8_t updateResponsiveness(uint8_t *var, float val)
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{
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// Just floor it for now.
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uint8_t roundedVal = (uint8_t)val;
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if (*var != roundedVal) {
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*var = roundedVal;
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return 1;
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}
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return 0;
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}
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/**
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* @}
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*/
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@ -18,6 +18,7 @@
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Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp,
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Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki,
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Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit,
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Roll Attitude.Resp, Pitch Attitude.Resp, Roll+Pitch Attitude.Resp, Yaw Attitude.Resp,
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GyroTau"
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defaultvalue="Disabled"/>
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<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
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