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Code Issues Releases Activity

added missing object, added more debug output

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This commit is contained in:
Corvus Corax 2013-12-08 13:06:28 +01:00
parent 4ad0e730da
commit 3cea14a809
2 changed files with 14 additions and 0 deletions
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2
flight/modules/AltitudeHold/altitudehold.c
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@ -154,6 +154,8 @@ static void altitudeHoldTask(void)
// velocity control loop
altitudeHoldStatus.AccelerationDesired = altitudeHoldSettings.VelocityP * (velocityStateDown - altitudeHoldStatus.VelocityDesired) - 9.81f;
altitudeHoldStatus.AccelerationFiltered = accelStateDown;
AltitudeHoldStatusSet(&altitudeHoldStatus);
// compensate acceleration by rotation

12
shared/uavobjectdefinition/altitudeholdstatus.xml Normal file
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@ -0,0 +1,12 @@
<xml>
<object name="AltitudeHoldStatus" singleinstance="true" settings="false" category="Control">
<description>Status Data from Altitude Hold Control Loops</description>
<field name="VelocityDesired" units="m/s" type="float" elements="1"/>
<field name="AccelerationDesired" units="m/s^2" type="float" elements="1"/>
<field name="AccelerationFiltered" units="m/s^2" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>