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Merged in corvusvcorax/librepilot/LP-603_optional_quaternionstabi (pull request #520)

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LP-603 Make QUATERNION_STABILIZATION optional.

Approved-by: Lalanne Laurent <f5soh@free.fr>
This commit is contained in:
Eric Price 2019-02-21 21:35:51 +00:00 committed by Lalanne Laurent
commit 36f361d6a1
2 changed files with 5 additions and 3 deletions
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7
flight/modules/Stabilization/outerloop.c
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@ -151,8 +151,8 @@ static void stabilizationOuterloopTask()
float local_error[3];
{
#if defined(PIOS_QUATERNION_STABILIZATION)
if (stabSettings.settings.ForceRollPitchDuringYawTransition == STABILIZATIONSETTINGS_FORCEROLLPITCHDURINGYAWTRANSITION_FALSE) {
// Quaternion calculation of error in each axis. Uses more memory.
float rpy_desired[3];
float q_desired[4];
@ -178,8 +178,10 @@ static void stabilizationOuterloopTask()
quat_mult(q_desired, &attitudeState.q1, q_error);
quat_inverse(q_error);
Quaternion2RPY(q_error, local_error);
} else {
#else /* if defined(PIOS_QUATERNION_STABILIZATION) */
{
#endif /* if defined(PIOS_QUATERNION_STABILIZATION) */
// Simpler algorithm for CC, less memory
local_error[0] = stabilizationDesiredAxis[0] - attitudeState.Roll;
local_error[1] = stabilizationDesiredAxis[1] - attitudeState.Pitch;
@ -192,7 +194,6 @@ static void stabilizationOuterloopTask()
} else {
local_error[2] = modulo - 180.0f;
}
#endif /* if defined(PIOS_QUATERNION_STABILIZATION) */
}
// Feed forward: Assume things always get worse before they get better

1
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -49,6 +49,7 @@
<field name="FlightModeAssistMap" units="" type="enum" options="None,GPSAssist" elements="6" defaultvalue="None,None,None,None,None,None" />
<field name="MeasureBasedDTerm" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="ForceRollPitchDuringYawTransition" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>