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Code Issues Releases Activity

OP-1156 hotfix in pathfollower code - use correct VerticalPosPI.Ki and ILimit + uavobject typo

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This commit is contained in:
Corvus Corax 2014-09-06 13:51:30 +02:00
parent 650cbd3b52
commit 4a19f98c95
2 changed files with 2 additions and 2 deletions
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2
flight/modules/PathFollower/pathfollower.c
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@ -376,7 +376,7 @@ static uint8_t updateAutoPilotVtol()
}
// vertical positon control PID loops works the same in both regular and fallback modes, setup according to settings
pid_configure(&global.PIDposV, vtolPathFollowerSettings.VerticalPosPI.Kp, vtolPathFollowerSettings.HorizontalPosPI.Ki, 0.0f, vtolPathFollowerSettings.HorizontalPosPI.ILimit);
pid_configure(&global.PIDposV, vtolPathFollowerSettings.VerticalPosPI.Kp, vtolPathFollowerSettings.VerticalPosPI.Ki, 0.0f, vtolPathFollowerSettings.VerticalPosPI.ILimit);
switch (followermode) {
case FOLLOWER_REGULAR:

2
shared/uavobjectdefinition/vtolpathfollowersettings.xml
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@ -6,7 +6,7 @@
<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="1.0"/>
<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0"/>
<field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.25,0.0,0.0"/>
<field name="VerticalPosPI" units="" type="float" elements="1" elementnames="Kp,Ki,Ilimit" defaultvalue="0.4,0.0,0.0"/>
<field name="VerticalPosPI" units="" type="float" elements="1" elementnames="Kp,Ki,ILimit" defaultvalue="0.4,0.0,0.0"/>
<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="8.0, 0.5, 0.0, 15"/>
<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1, 0.01, 0.0, 1.0"/>
<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>