rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-03-15 07:29:15 +01:00
Code Issues Releases Activity

OP-1397 Add initial support for attitude mode response (deg)

Browse Source
This commit is contained in:
Stefan Karlsson 2014-07-11 23:11:45 +02:00
parent 9b189e86e4
commit 2113e1a2e1
2 changed files with 31 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
flight/modules/TxPID/txpid.c
View File

@ -83,6 +83,7 @@
// Private functions
static void updatePIDs(UAVObjEvent *ev);
static uint8_t update(float *var, float val);
static uint8_t updateResponsiveness(uint8_t *var, float val);
static float scale(float val, float inMin, float inMax, float outMin, float outMax);
/**
@ -235,6 +236,9 @@ static void updatePIDs(UAVObjEvent *ev)
case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDERESP:
needsUpdateBank |= updateResponsiveness(&bank.RollMax, value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKP:
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
break;
@ -256,6 +260,9 @@ static void updatePIDs(UAVObjEvent *ev)
case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDERESP:
needsUpdateBank |= updateResponsiveness(&bank.PitchMax, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
@ -284,6 +291,10 @@ static void updatePIDs(UAVObjEvent *ev)
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDERESP:
needsUpdateBank |= updateResponsiveness(&bank.RollMax, value);
needsUpdateBank |= updateResponsiveness(&bank.PitchMax, value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKP:
needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
break;
@ -305,6 +316,9 @@ static void updatePIDs(UAVObjEvent *ev)
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
needsUpdateBank |= update(&bank.YawPI.ILimit, value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDERESP:
needsUpdateBank |= updateResponsiveness(&bank.YawMax, value);
break;
case TXPIDSETTINGS_PIDS_GYROTAU:
needsUpdateStab |= update(&stab.GyroTau, value);
break;
@ -389,6 +403,22 @@ static uint8_t update(float *var, float val)
return 0;
}
/**
* Updates var using val if needed.
* \returns 1 if updated, 0 otherwise
*/
static uint8_t updateResponsiveness(uint8_t *var, float val)
{
// Just floor it for now.
uint8_t roundedVal = (uint8_t)val;
if (*var != roundedVal) {
*var = roundedVal;
return 1;
}
return 0;
}
/**
* @}
*/

1
shared/uavobjectdefinition/txpidsettings.xml
View File

@ -18,6 +18,7 @@
Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp,
Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki,
Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit,
Roll Attitude.Resp, Pitch Attitude.Resp, Roll+Pitch Attitude.Resp, Yaw Attitude.Resp,
GyroTau"
defaultvalue="Disabled"/>
<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>