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Code Issues Releases Activity

Flight/VTOLmixer: Fix bug in mixer that messed up roll mixing. Also changed minimum to -1 so that neutral can be position motors come on and -1 the off position. Also made failsafe throttle value -1 to be consistent.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1591 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-12 02:54:44 +00:00 committed by peabody124
parent c376711405
commit 5d1ebf76ea
3 changed files with 8 additions and 7 deletions
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12
flight/OpenPilot/Modules/Actuator/actuator.c
View File

@ -291,7 +291,7 @@ static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDes
VTOLSettingsGet(&vtolSettings);
VTOLStatusGet(&vtolStatus);
const int vtolMin = 0;
const int vtolMin = -1;
if(((settings->VTOLMotorN != ACTUATORSETTINGS_VTOLMOTORN_NONE) +
(settings->VTOLMotorNE != ACTUATORSETTINGS_VTOLMOTORS_NONE) +
@ -327,7 +327,7 @@ static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDes
if(settings->VTOLMotorE != ACTUATORSETTINGS_VTOLMOTORE_NONE) {
vtolStatus.MotorE = bound(desired->Throttle * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_THROTTLE] +
desired->Pitch * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_PITCH] +
desired->Roll * vtolSettings.MotorN[VTOLSETTINGS_MOTORE_ROLL] +
desired->Roll * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_ROLL] +
desired->Yaw * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_YAW],vtolMin,1);
cmd->Channel[settings->VTOLMotorE] = scaleChannel(vtolStatus.MotorE,
settings->ChannelMax[settings->VTOLMotorE],
@ -337,7 +337,7 @@ static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDes
if(settings->VTOLMotorSE != ACTUATORSETTINGS_VTOLMOTORSE_NONE) {
vtolStatus.MotorSE = bound(desired->Throttle * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_THROTTLE] +
desired->Pitch * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_PITCH] +
desired->Roll * vtolSettings.MotorN[VTOLSETTINGS_MOTORSE_ROLL] +
desired->Roll * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_ROLL] +
desired->Yaw * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_YAW],vtolMin,1);
cmd->Channel[settings->VTOLMotorSE] = scaleChannel(vtolStatus.MotorSE,
settings->ChannelMax[settings->VTOLMotorSE],
@ -347,7 +347,7 @@ static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDes
if(settings->VTOLMotorS != ACTUATORSETTINGS_VTOLMOTORS_NONE) {
vtolStatus.MotorS = bound(desired->Throttle * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_THROTTLE] +
desired->Pitch * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_PITCH] +
desired->Roll * vtolSettings.MotorN[VTOLSETTINGS_MOTORS_ROLL] +
desired->Roll * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_ROLL] +
desired->Yaw * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_YAW],vtolMin,1);
cmd->Channel[settings->VTOLMotorS] = scaleChannel(vtolStatus.MotorS,
settings->ChannelMax[settings->VTOLMotorS],
@ -357,7 +357,7 @@ static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDes
if(settings->VTOLMotorSW != ACTUATORSETTINGS_VTOLMOTORSW_NONE) {
vtolStatus.MotorSW = bound(desired->Throttle * vtolSettings.MotorSW[VTOLSETTINGS_MOTORSW_THROTTLE] +
desired->Pitch * vtolSettings.MotorSW[VTOLSETTINGS_MOTORSW_PITCH] +
desired->Roll * vtolSettings.MotorN[VTOLSETTINGS_MOTORSW_ROLL] +
desired->Roll * vtolSettings.MotorSW[VTOLSETTINGS_MOTORSW_ROLL] +
desired->Yaw * vtolSettings.MotorSW[VTOLSETTINGS_MOTORSW_YAW],vtolMin,1);
cmd->Channel[settings->VTOLMotorSW] = scaleChannel(vtolStatus.MotorSW,
settings->ChannelMax[settings->VTOLMotorSW],
@ -367,7 +367,7 @@ static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDes
if(settings->VTOLMotorW != ACTUATORSETTINGS_VTOLMOTORW_NONE) {
vtolStatus.MotorW = bound(desired->Throttle * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_THROTTLE] +
desired->Pitch * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_PITCH] +
desired->Roll * vtolSettings.MotorN[VTOLSETTINGS_MOTORW_ROLL] +
desired->Roll * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_ROLL] +
desired->Yaw * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_YAW],vtolMin,1);
cmd->Channel[settings->VTOLMotorW] = scaleChannel(vtolStatus.MotorW,
settings->ChannelMax[settings->VTOLMotorW],

2
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
View File

@ -214,7 +214,7 @@ static void manualControlTask(void* parameters)
if (connection_state == DISCONNECTED) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
cmd.Throttle = 0; // Shut down engine with no control
cmd.Throttle = -1; // Shut down engine with no control
cmd.Roll = 0;
cmd.Yaw = 0;
cmd.Pitch = 0;

1
ground/src/experimental/SerialLogger/analyzeINSGPS.m
View File

@ -36,6 +36,7 @@ fclose(fid);
b = [data.block]; % get block counts
gaps = find(diff(b) ~= 1);
if(gaps) % get biggest contiguous chunk
gaps = [1 gaps length(b)];
lengths = diff(gaps);
[foo idx] = max(lengths);
idx = gaps(idx):gaps(idx+1);