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Code Issues Releases Activity

Merged theothercliff/OP-1154_Cruise_Control_automatically_increase_copter_throttle_per_1/cos(bank_angle)

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Changed pid banks to use flight mode switch position instead of FlightStatus.FlightMode
This commit is contained in:
Les Newell 2014-01-15 19:37:13 +00:00
parent f096d01e3c
commit 2b32c5ebc3
2 changed files with 13 additions and 13 deletions
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16
flight/modules/Stabilization/stabilization.c
View File

@ -102,7 +102,7 @@ bool lowThrottleZeroAxis[MAX_AXES];
float vbar_decay = 0.991f;
struct pid pids[PID_MAX];
int flight_mode = -1;
int cur_flight_mode = -1;
static uint8_t rattitude_anti_windup;
static float cruise_control_min_throttle;
@ -235,9 +235,11 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
#ifdef DIAG_RATEDESIRED
RateDesiredGet(&rateDesired);
#endif
uint8_t flight_mode_switch_position;
ManualControlCommandFlightModeSwitchPositionGet(&flight_mode_switch_position);
if (flight_mode != flightStatus.FlightMode) {
flight_mode = flightStatus.FlightMode;
if (cur_flight_mode != flight_mode_switch_position) {
cur_flight_mode = flight_mode_switch_position;
SettingsBankUpdatedCb(NULL);
}
@ -604,8 +606,6 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
// to maintain same altitdue with changing bank angle
// but without manually adjusting throttle
// do it here and all the various flight modes (e.g. Altitude Hold) can use it
uint8_t flight_mode_switch_position;
ManualControlCommandFlightModeSwitchPositionGet(&flight_mode_switch_position);
if (flight_mode_switch_position < NUM_FMS_POSITIONS
&& cruise_control_flight_mode_switch_pos_enable[flight_mode_switch_position] != (uint8_t) 0
&& cruise_control_max_power_factor > 0.0001f) {
@ -759,11 +759,11 @@ static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
StabilizationBankGet(&oldBank);
if (flight_mode < 0) {
if (cur_flight_mode < 0 || cur_flight_mode >= NUM_FMS_POSITIONS) {
return;
}
switch (cast_struct_to_array(settings.FlightModeMap, settings.FlightModeMap.Stabilized1)[flight_mode]) {
switch (settings.FlightModeMap[cur_flight_mode]) {
case 0:
StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *)&bank);
break;
@ -928,7 +928,7 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
vbar_decay = expf(-fakeDt / settings.VbarTau);
// force flight mode update
flight_mode = -1;
cur_flight_mode = -1;
// Rattitude flight mode anti-windup factor
rattitude_anti_windup = settings.RattitudeAntiWindup;

10
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -3,11 +3,11 @@
<object name="StabilizationSettings" singleinstance="true" settings="true" category="Control">
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
<!-- Note: The number of elements here must match the number of available flight modes -->
<field name="FlightModeMap" units="" type="enum"
options="Bank1,Bank2,Bank3"
elementnames="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,AltitudeVario,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"
defaultvalue="Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1"/>
<!-- Note: The number of elements here must match the number of available flight mode switch positions -->
<field name="FlightModeMap" units="" type="enum"
options="Bank1,Bank2,Bank3"
elements="6"
defaultvalue="Bank1,Bank1,Bank1,Bank1,Bank1,Bank1"/>
<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>