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Code Issues Releases Activity

Stabilization: For the inner loop call the setpoint shaping version so that

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the derivative term can weight the sticks and gyros independently.
This commit is contained in:
James Cotton 2012-09-11 13:21:53 -05:00
parent e4a167dca1
commit 4717c376c0
1 changed files with 4 additions and 4 deletions
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8
flight/Modules/Stabilization/stabilization.c
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@ -247,7 +247,7 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i] - gyro_filtered[i], dT);
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
break;
@ -263,7 +263,7 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i] - gyro_filtered[i], dT);
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
break;
@ -287,7 +287,7 @@ static void stabilizationTask(void* parameters)
// Compute desired rate as input biased towards leveling
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
actuatorDesiredAxis[i] = pid_apply(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i] - gyro_filtered[i], dT);
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
break;
@ -309,7 +309,7 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
actuatorDesiredAxis[i] = pid_apply(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i] - gyro_filtered[i], dT);
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
break;