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Code Issues Releases Activity

OP-984 Fixed bad merge of stabilization.c

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This commit is contained in:
Les Newell 2014-01-10 22:16:50 +00:00
parent 49cf33ee59
commit 2e030419ca
1 changed files with 10 additions and 35 deletions
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45
flight/modules/Stabilization/stabilization.c
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@ -684,38 +684,6 @@ static float stab_powf(float x, uint8_t p)
}
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
StabilizationBankData bank, oldBank;
StabilizationBankGet(&oldBank);
if(flight_mode < 0) return;
switch(cast_struct_to_array(settings.FlightModeMap, settings.FlightModeMap.Stabilized1)[flight_mode])
{
case 0:
StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *) &bank);
break;
case 1:
StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *) &bank);
break;
case 2:
StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *) &bank);
break;
default:
memset(&bank, 0, sizeof(StabilizationBankDataPacked));
// return; //bank number is invalid. All we can do is ignore it.
}
//Need to do this to prevent an infinite loop
if(memcmp(&oldBank, &bank, sizeof(StabilizationBankDataPacked)) != 0)
{
StabilizationBankSet(&bank);
}
}
static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
@ -743,7 +711,7 @@ static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
// return; //bank number is invalid. All we can do is ignore it.
}
//Need to do this to prevent an infinite loop
//Need to do this to prevent an infinite loop
if(memcmp(&oldBank, &bank, sizeof(StabilizationBankDataPacked)) != 0)
{
StabilizationBankSet(&bank);
@ -848,6 +816,12 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
bank.YawRatePID.Ki,
bank.YawRatePID.Kd,
bank.YawRatePID.ILimit);
}
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
StabilizationSettingsGet(&settings);
// Set up the derivative term
pid_configure_derivative(settings.DerivativeCutoff, settings.DerivativeGamma);
@ -882,13 +856,14 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
// Compute time constant for vbar decay term based on a tau
vbar_decay = expf(-fakeDt / settings.VbarTau);
flight_mode = -1; //force flight mode update
//force flight mode update
flight_mode = -1;
// Rattitude flight mode anti-windup factor
rattitude_anti_windup = settings.RattitudeAntiWindup;
}
/**
* @}
* @}