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Merge remote-tracking branch 'origin/corvuscorax/OP-1454_weakleveling-hotfix' into rel-14-06.01

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Corvus Corax 2014-08-23 15:27:20 +02:00
commit 41e1b719a9
1 changed files with 5 additions and 1 deletions
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6
flight/modules/Stabilization/outerloop.c
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@ -228,7 +228,11 @@ static void stabilizationOuterloopTask()
// That would be changed to Attitude mode max angle affecting Kp
// Also does not take dT into account
{
float rate_input = cast_struct_to_array(stabSettings.stabBank.ManualRate, stabSettings.stabBank.ManualRate.Roll)[t] * stabilizationDesiredAxis[t] / cast_struct_to_array(stabSettings.stabBank, stabSettings.stabBank.RollMax)[t];
float stickinput[3];
stickinput[0] = boundf(stabilizationDesiredAxis[0] / stabSettings.stabBank.RollMax, -1.0f, 1.0f);
stickinput[1] = boundf(stabilizationDesiredAxis[1] / stabSettings.stabBank.PitchMax, -1.0f, 1.0f);
stickinput[2] = boundf(stabilizationDesiredAxis[2] / stabSettings.stabBank.YawMax, -1.0f, 1.0f);
float rate_input = stickinput[t] * cast_struct_to_array(stabSettings.stabBank.ManualRate, stabSettings.stabBank.ManualRate.Roll)[t];
float weak_leveling = local_error[t] * stabSettings.settings.WeakLevelingKp;
weak_leveling = boundf(weak_leveling, -stabSettings.settings.MaxWeakLevelingRate, stabSettings.settings.MaxWeakLevelingRate);