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Code Issues Releases Activity

TxPID module: add ILimit values to the list of settings

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This commit is contained in:
Oleg Semyonov 2012-02-21 19:57:10 +02:00
parent a01e38c277
commit 403e9cd220
2 changed files with 29 additions and 1 deletions
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26
flight/Modules/TxPID/txpid.c
View File

@ -193,12 +193,18 @@ static void updatePIDs(UAVObjEvent* ev)
case TXPIDSETTINGS_PIDS_ROLLRATEKD: case TXPIDSETTINGS_PIDS_ROLLRATEKD:
needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value); needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value);
break; break;
case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP: case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value); needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value);
break; break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI: case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value); needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value);
break; break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKP: case TXPIDSETTINGS_PIDS_PITCHRATEKP:
needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value); needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value);
break; break;
@ -208,12 +214,18 @@ static void updatePIDs(UAVObjEvent* ev)
case TXPIDSETTINGS_PIDS_PITCHRATEKD: case TXPIDSETTINGS_PIDS_PITCHRATEKD:
needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value); needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value);
break; break;
case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP: case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value); needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value);
break; break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI: case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value); needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value);
break; break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP: case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP], value); needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP], value);
needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value); needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value);
@ -226,6 +238,10 @@ static void updatePIDs(UAVObjEvent* ev)
needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value); needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value);
needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value); needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value);
break; break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT], value);
needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP: case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value); needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value);
needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value); needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value);
@ -234,6 +250,10 @@ static void updatePIDs(UAVObjEvent* ev)
needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value); needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value);
needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value); needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value);
break; break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT], value);
needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKP: case TXPIDSETTINGS_PIDS_YAWRATEKP:
needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP], value); needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP], value);
break; break;
@ -243,12 +263,18 @@ static void updatePIDs(UAVObjEvent* ev)
case TXPIDSETTINGS_PIDS_YAWRATEKD: case TXPIDSETTINGS_PIDS_YAWRATEKD:
needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD], value); needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD], value);
break; break;
case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKP: case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KP], value); needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KP], value);
break; break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKI: case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KI], value); needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KI], value);
break; break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value);
break;
default: default:
PIOS_Assert(0); PIOS_Assert(0);
} }

4
shared/uavobjectdefinition/txpidsettings.xml
View File

@ -13,8 +13,10 @@
Roll Rate.Kp, Pitch Rate.Kp, Roll+Pitch Rate.Kp, Yaw Rate.Kp, Roll Rate.Kp, Pitch Rate.Kp, Roll+Pitch Rate.Kp, Yaw Rate.Kp,
Roll Rate.Ki, Pitch Rate.Ki, Roll+Pitch Rate.Ki, Yaw Rate.Ki, Roll Rate.Ki, Pitch Rate.Ki, Roll+Pitch Rate.Ki, Yaw Rate.Ki,
Roll Rate.Kd, Pitch Rate.Kd, Roll+Pitch Rate.Kd, Yaw Rate.Kd, Roll Rate.Kd, Pitch Rate.Kd, Roll+Pitch Rate.Kd, Yaw Rate.Kd,
Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,
Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp, Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp,
Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki" Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki,
Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit"
defaultvalue="Disabled"/> defaultvalue="Disabled"/>
<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/> <field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
<field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/> <field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>