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Code Issues Releases Activity

Make the amount to suppress the gyros adjustable instead of binary

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This commit is contained in:
James Cotton 2012-05-26 10:38:03 -05:00
parent 59972d5570
commit 4c562b88d1
2 changed files with 5 additions and 5 deletions
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8
flight/Modules/Stabilization/stabilization.c
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@ -85,7 +85,7 @@ bool lowThrottleZeroIntegral;
float vbar_integral[3] = {0, 0, 0};
float vbar_decay = 0.991f;
pid_type pids[PID_MAX];
bool vbar_gyros_suppress;
int8_t vbar_gyros_suppress;
bool vbar_piro_comp = false;
// Private functions
@ -336,8 +336,8 @@ static void stabilizationTask(void* parameters)
// Command signal is composed of stick input added to the gyro and virtual flybar
float gyro_gain = 1.0f;
if (vbar_gyros_suppress) {
gyro_gain = (1.0f - fabs(rateDesiredAxis[i]));
if (vbar_gyros_suppress > 0) {
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 * (
@ -515,7 +515,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
// Compute time constant for vbar decay term based on a tau
vbar_decay = expf(-fakeDt / settings.VbarTau);
vbar_gyros_suppress = settings.VbarGyroSuppress == STABILIZATIONSETTINGS_VBARGYROSUPPRESS_TRUE;
vbar_gyros_suppress = settings.VbarGyroSuppress;
vbar_piro_comp = settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE;
}

2
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -19,7 +19,7 @@
<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
<field name="VbarGyroSuppress" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
<field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>