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Code Issues Releases Activity

Limit the number of degrees the vbar can deflect. This is good for fast flips

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etc.
This commit is contained in:
James Cotton 2012-05-03 20:30:15 -05:00
parent 42ac4018b8
commit 59972d5570
2 changed files with 5 additions and 0 deletions
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4
flight/Modules/Stabilization/stabilization.c
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@ -329,6 +329,10 @@ static void stabilizationTask(void* parameters)
{
// Track the angle of the virtual flybar which includes a slow decay
vbar_integral[i] = vbar_integral[i] * vbar_decay + gyro_filtered[i] * dT;
if (vbar_integral[i] > settings.VbarMaxAngle)
vbar_integral[i] = settings.VbarMaxAngle;
if (-vbar_integral[i] < -settings.VbarMaxAngle)
vbar_integral[i] = -settings.VbarMaxAngle;
// Command signal is composed of stick input added to the gyro and virtual flybar
float gyro_gain = 1.0f;

1
shared/uavobjectdefinition/stabilizationsettings.xml
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@ -21,6 +21,7 @@
<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="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>