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Code Issues Releases Activity

Try to set Ilimit Rate... somehow I set Ilimit Attitude instead. Need to sort out. basic idea worked though.

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This commit is contained in:
Kevin Finisterre 2014-06-12 12:07:03 -04:00
parent 9aaa764797
commit 58dad5d3a5
1 changed files with 25 additions and 9 deletions
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34
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
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@ -35,6 +35,7 @@
#include "manualcontrolsettings.h"
#include "flightmodesettings.h"
#include "stabilizationsettings.h"
#include "stabilizationbank.h"
#include "stabilizationsettingsbank1.h"
#include "revocalibration.h"
#include "accelgyrosettings.h"
@ -336,28 +337,43 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
// unfortunately not sure this is the right way to do it!
qDebug() << "Saving Fixed Wing Default PID Data\n";
// qDebug() << "Save Fixed Wing StabilizationSettings object\n";
// StabilizationSettings *stabilizationSettings = StabilizationSettings::GetInstance(m_uavoManager);
// StabilizationSettings::DataFields stabSettings = stabilizationSettings->getData();
// Values pulled from ./build/uavobject-synthetics/gcs/stabilizationsettings.h
// stabSettings.CruiseControlInvertedThrustReversing[StabilizationSettings::CRUISECONTROLINVERTEDTHRUSTREVERSING_UNREVERSED] = 0;
// Currently broken, need to set max servo throw via iLimit here per my notes in http://forums.openpilot.org/topic/32356-gonna-give-revo-a-run-on-my-bixler-v1-any-suggestions/#entry252556
// stabilizationSettings->setData(stabSettings);
// addModifiedObject(stabilizationSettings, tr("Writing stabilization settings"));
/*
qDebug() << "Save Fixed Wing StabilizationBank object\n";
StabilizationBank *stabilizationBank = StabilizationBank::GetInstance(m_uavoManager);
StabilizationBank::DataFields stabBank = stabilizationBank->getData();
Values pulled from ./build/uavobject-synthetics/gcs/stabilizationbank.h
stabBank.PitchPI[StabilizationBank::PITCHPI_ILIMIT] = 1.123;
stabilizationBank->setData(stabBank);
addModifiedObject(stabilizationBank, tr("Writing stabilization bank"));
*/
qDebug() << "Save Fixed Wing StabilizationSettingsBank1 object\n";
// Values pulled from ./build/uavobject-synthetics/gcs/stabilizationsettingsbank1.h
// Values pulled from ./build/uavobject-synthetics/gcs/stabilizationsettingsbank1.h
StabilizationSettingsBank1 *stabilizationSettingsBank = StabilizationSettingsBank1::GetInstance(m_uavoManager);
StabilizationSettingsBank1::DataFields stabSettingsBank = stabilizationSettingsBank->getData();
stabSettingsBank.RollRatePID[StabilizationSettingsBank1::ROLLRATEPID_KP] = 2.420;
stabSettingsBank.RollRatePID[StabilizationSettingsBank1::ROLLRATEPID_KI] = 2.420;
stabSettingsBank.RollPI[StabilizationSettingsBank1::ROLLPI_KP] = 2.420;
stabSettingsBank.RollPI[StabilizationSettingsBank1::ROLLPI_KI] = 2.420;
stabSettingsBank.PitchRatePID[StabilizationSettingsBank1::PITCHRATEPID_KP] = 2.420;
stabSettingsBank.PitchRatePID[StabilizationSettingsBank1::PITCHRATEPID_KI] = 2.420;
stabSettingsBank.PitchPI[StabilizationSettingsBank1::PITCHPI_KP] = 2.420;
stabSettingsBank.PitchPI[StabilizationSettingsBank1::PITCHPI_KI] = 2.420;
stabSettingsBank.YawRatePID[StabilizationSettingsBank1::YAWRATEPID_KP] = 2.420;
stabSettingsBank.YawRatePID[StabilizationSettingsBank1::YAWRATEPID_KI] = 2.420;
stabSettingsBank.YawPI[StabilizationSettingsBank1::YAWPI_KP] = 2.420;
stabSettingsBank.YawPI[StabilizationSettingsBank1::YAWPI_KI] = 2.420;
// need to set max servo throw via iLimit here per my notes in http://forums.openpilot.org/topic/32356-gonna-give-revo-a-run-on-my-bixler-v1-any-suggestions/#entry252556
stabSettingsBank.PitchPI[StabilizationSettingsBank1::PITCHPI_ILIMIT] = 1.420;
stabSettingsBank.RollPI[StabilizationSettingsBank1::ROLLPI_ILIMIT] = 1.420;
stabSettingsBank.YawPI[StabilizationSettingsBank1::YAWPI_ILIMIT] = 1.420;
stabilizationSettingsBank->setData(stabSettingsBank);
addModifiedObject(stabilizationSettingsBank, tr("Writing stabilization bank 1 settings"));