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Enable guidance in revo. Update manual control to set the position desired
when the switch is flipped.
This commit is contained in:
James Cotton
parent
0eedaa1250
commit
337d5b7079
@ -45,13 +45,13 @@
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#include "openpilot.h"
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#include "guidance.h"
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#include "guidancesettings.h"
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#include "attituderaw.h"
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#include "accels.h"
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#include "attitudeactual.h"
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#include "positiondesired.h" // object that will be updated by the module
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#include "positionactual.h"
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#include "manualcontrol.h"
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#include "flightstatus.h"
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#include "guidancesettings.h"
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#include "nedaccel.h"
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#include "stabilizationdesired.h"
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#include "stabilizationsettings.h"
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@ -61,7 +61,7 @@
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#include "CoordinateConversions.h"
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// Private constants
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#define MAX_QUEUE_SIZE 1
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#define MAX_QUEUE_SIZE 4
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#define STACK_SIZE_BYTES 1024
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#define TASK_PRIORITY (tskIDLE_PRIORITY+2)
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// Private types
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@ -97,7 +97,6 @@ int32_t GuidanceStart()
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*/
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int32_t GuidanceInitialize()
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{
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GuidanceSettingsInitialize();
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PositionDesiredInitialize();
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NedAccelInitialize();
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@ -107,7 +106,7 @@ int32_t GuidanceInitialize()
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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// Listen for updates.
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AttitudeRawConnectQueue(queue);
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AccelsConnectQueue(queue);
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return 0;
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}
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@ -155,15 +154,15 @@ static void guidanceTask(void *parameters)
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_GUIDANCE);
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}
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// Collect downsampled attitude data
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AttitudeRawData attitudeRaw;
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AttitudeRawGet(&attitudeRaw);
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accel[0] += attitudeRaw.accels[0];
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accel[1] += attitudeRaw.accels[1];
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accel[2] += attitudeRaw.accels[2];
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AccelsData accels;
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AccelsGet(&accels);
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accel[0] += accels.x;
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accel[1] += accels.y;
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accel[2] += accels.z;
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accel_accum++;
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// Continue collecting data if not enough time
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thisTime = xTaskGetTickCount();
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if( (thisTime - lastUpdateTime) < (guidanceSettings.UpdatePeriod / portTICK_RATE_MS) )
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@ -173,6 +172,8 @@ static void guidanceTask(void *parameters)
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accel[0] /= accel_accum;
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accel[1] /= accel_accum;
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accel[2] /= accel_accum;
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accel[0] = accel[1] = accel[2] = 0;
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accel_accum = 0;
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//rotate avg accels into earth frame and store it
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AttitudeActualData attitudeActual;
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@ -187,45 +188,30 @@ static void guidanceTask(void *parameters)
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for (uint8_t j=0; j<3; j++)
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accel_ned[i] += Rbe[j][i]*accel[j];
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}
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accel_ned[2] += 9.81;
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accel_ned[2] += 9.81f;
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NedAccelData accelData;
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NedAccelGet(&accelData);
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// Convert from m/s to cm/s
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accelData.North = accel_ned[0];
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accelData.East = accel_ned[1];
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accelData.Down = accel_ned[2];
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NedAccelSet(&accelData);
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FlightStatusGet(&flightStatus);
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SystemSettingsGet(&systemSettings);
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GuidanceSettingsGet(&guidanceSettings);
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if ((PARSE_FLIGHT_MODE(flightStatus.FlightMode) == FLIGHTMODE_GUIDANCE) &&
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if ((flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) &&
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((systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL) ||
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(systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_QUADP) ||
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(systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_QUADX) ||
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(systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_HEXA) ))
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{
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if(positionHoldLast == 0) {
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/* When enter position hold mode save current position */
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PositionDesiredData positionDesired;
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PositionActualData positionActual;
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PositionDesiredGet(&positionDesired);
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PositionActualGet(&positionActual);
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positionDesired.North = positionActual.North;
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positionDesired.East = positionActual.East;
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PositionDesiredSet(&positionDesired);
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positionHoldLast = 1;
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}
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if( flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD )
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updateVtolDesiredVelocity();
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else
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else
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manualSetDesiredVelocity();
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updateVtolDesiredAttitude();
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} else {
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// Be cleaner and get rid of global variables
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northVelIntegral = 0;
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@ -236,9 +222,6 @@ static void guidanceTask(void *parameters)
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downPosIntegral = 0;
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positionHoldLast = 0;
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}
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accel[0] = accel[1] = accel[2] = 0;
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accel_accum = 0;
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}
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}
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@ -34,19 +34,20 @@
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*/
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#include "openpilot.h"
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#include "manualcontrol.h"
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#include "manualcontrolsettings.h"
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#include "stabilizationsettings.h"
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#include "manualcontrolcommand.h"
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#include "accessorydesired.h"
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#include "actuatordesired.h"
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#include "stabilizationdesired.h"
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#include "altitudeholddesired.h"
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#include "baroaltitude.h"
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#include "flighttelemetrystats.h"
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#include "flightstatus.h"
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#include "accessorydesired.h"
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#include "receiveractivity.h"
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#include "altitudeholddesired.h"
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#include "manualcontrol.h"
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#include "manualcontrolsettings.h"
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#include "manualcontrolcommand.h"
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#include "positionactual.h"
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#include "baroaltitude.h"
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#include "positiondesired.h"
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#include "stabilizationsettings.h"
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#include "stabilizationdesired.h"
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#include "receiveractivity.h"
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// Private constants
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#if defined(PIOS_MANUAL_STACK_SIZE)
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@ -83,6 +84,7 @@ static portTickType lastSysTime;
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static void updateActuatorDesired(ManualControlCommandData * cmd);
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static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
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static void altitudeHoldDesired(ManualControlCommandData * cmd);
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static void positionDesired(ManualControlCommandData * cmd);
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static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
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static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
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static void setArmedIfChanged(uint8_t val);
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@ -383,6 +385,9 @@ static void manualControlTask(void *parameters)
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case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD:
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altitudeHoldDesired(&cmd);
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break;
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
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positionDesired(&cmd);
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break;
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default:
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
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}
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@ -600,6 +605,41 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
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#if defined(REVOLUTION)
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// TODO: Need compile flag to exclude this from copter control
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/**
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* @brief Update the position desired to current location when
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* enabled and allow the waypoint to be moved by transmitter
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*/
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static void positionDesired(ManualControlCommandData * cmd)
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{
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static portTickType lastSysTime;
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portTickType thisSysTime;
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float dT;
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thisSysTime = xTaskGetTickCount();
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dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
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lastSysTime = thisSysTime;
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if(dT > 1) {
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// After not being in this mode for a while init at current height
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PositionActualData positionActual;
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PositionActualGet(&positionActual);
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PositionDesiredData positionDesired;
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PositionDesiredGet(&positionDesired);
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positionDesired.North = positionActual.North;
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positionDesired.East = positionActual.East;
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positionDesired.Down = positionActual.Down;
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PositionDesiredSet(&positionDesired);
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} else {
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// TODO: Implement moving magic waypoint with remote
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}
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}
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/**
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* @brief Update the altitude desired to current altitude when
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* enabled and enable altitude mode for stabilization
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* @todo: Need compile flag to exclude this from copter control
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*/
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static void altitudeHoldDesired(ManualControlCommandData * cmd)
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{
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const float DEADBAND_HIGH = 0.55;
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@ -49,11 +49,10 @@ endif
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FLASH_TOOL = OPENOCD
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# List of modules to include
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MODULES = Sensors Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS FirmwareIAP
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MODULES += AltitudeHold
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MODULES = Sensors Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS FirmwareIAP AltitudeHold Guidance
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MODULES += CameraStab
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MODULES += OveroSync
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MODULES += Telemetry
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#MODULES += OveroSync
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PYMODULES =
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#FlightPlan
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