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Code Issues Releases Activity

Apply the virtual flybar stick scaling in stabilization.c because we need to

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know the true stick position to dampen the gyros appropriately.
This commit is contained in:
James Cotton 2012-05-26 12:05:04 -05:00
parent bda3f301cb
commit 46a52fc5ce
2 changed files with 10 additions and 4 deletions
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6
flight/Modules/ManualControl/manualcontrol.c
View File

@ -586,7 +586,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll * stabSettings.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
0; // this is an invalid mode
;
stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
@ -594,7 +594,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch * stabSettings.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
0; // this is an invalid mode
stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
@ -602,7 +602,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw * stabSettings.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
0; // this is an invalid mode
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;

8
flight/Modules/Stabilization/stabilization.c
View File

@ -77,6 +77,7 @@ static xQueueHandle queue;
float gyro_alpha = 0;
float gyro_filtered[3] = {0,0,0};
float axis_lock_accum[3] = {0,0,0};
float vbar_sensitivity[3] = {1, 1, 1};
uint8_t max_axis_lock = 0;
uint8_t max_axislock_rate = 0;
float weak_leveling_kp = 0;
@ -340,7 +341,7 @@ static void stabilizationTask(void* parameters)
gyro_gain = (1.0f - fabs(rateDesiredAxis[i]) * vbar_gyros_suppress / 100.0f);
gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
}
float command = rateDesiredAxis[i] - gyro_gain * (
float command = rateDesiredAxis[i] * vbar_sensitivity[i] - gyro_gain * (
vbar_integral[i] * pids[PID_VBAR_ROLL + i].i +
gyro_filtered[i] * pids[PID_VBAR_ROLL + i].p);
@ -491,6 +492,11 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
pids[PID_VBAR_YAW].p = settings.VbarYawPI[STABILIZATIONSETTINGS_VBARYAWPI_KP];
pids[PID_VBAR_YAW].i = settings.VbarYawPI[STABILIZATIONSETTINGS_VBARYAWPI_KI];
// Need to store the vbar sensitivity
vbar_sensitivity[0] = settings.VbarSensitivity[0];
vbar_sensitivity[1] = settings.VbarSensitivity[1];
vbar_sensitivity[2] = settings.VbarSensitivity[2];
// Maximum deviation to accumulate for axis lock
max_axis_lock = settings.MaxAxisLock;
max_axislock_rate = settings.MaxAxisLockRate;