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Code Issues Releases Activity

For hardcode flipping allow full stick to completely override the gyro

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This commit is contained in:
James Cotton 2012-02-21 14:23:54 -06:00
parent df82cb6ada
commit 3283b99d4e
2 changed files with 11 additions and 1 deletions
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11
flight/Modules/Stabilization/stabilization.c
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@ -85,6 +85,7 @@ bool lowThrottleZeroIntegral;
float vbar_integral[3] = {0, 0, 0};
float vbar_decay = 0.991f;
pid_type pids[PID_MAX];
bool vbar_gyros_suppress;
// Private functions
static void stabilizationTask(void* parameters);
@ -315,7 +316,14 @@ static void stabilizationTask(void* parameters)
vbar_integral[i] = vbar_integral[i] * vbar_decay + gyro_filtered[i] * dT;
// Command signal is composed of stick input added to the gyro and virtual flybar
float command = rateDesiredAxis[i] - vbar_integral[i] * pids[PID_VBAR_ROLL + i].i - gyro_filtered[i] * pids[PID_VBAR_ROLL + i].p;
float gyro_gain = 1.0f;
if (vbar_gyros_suppress) {
float gyro_gain = (1.0f - fabs(rateDesiredAxis[i]));
gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
}
float command = rateDesiredAxis[i] - gyro_gain * (
vbar_integral[i] * pids[PID_VBAR_ROLL + i].i -
gyro_filtered[i] * pids[PID_VBAR_ROLL + i].p);
actuatorDesiredAxis[i] = bound(command);
break;
@ -488,6 +496,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
// Compute time constant for vbar decay term based on a tau
vbar_decay = expf(-fakeDt / settings.VbarTau);
vbar_gyros_suppress = settings.VbarGyroSuppress == STABILIZATIONSETTINGS_VBARGYROSUPPRESS_TRUE;
}

1
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -19,6 +19,7 @@
<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
<field name="VbarGyroSuppress" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>