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Code Issues Releases Activity

OP-1599 updated defaults for position roam mode settings, do not low pass filter throttle

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This commit is contained in:
Corvus Corax 2014-11-10 19:06:27 +01:00
parent 7a53cd0933
commit 5f352f54a3
4 changed files with 5 additions and 11 deletions
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5
flight/libraries/plans.c
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@ -167,7 +167,7 @@ void plan_run_land()
*/
static bool vario_hold = true;
static float hold_position[3];
static float vario_control_lowpass[4];
static float vario_control_lowpass[3];
static float vario_course = 0.0f;
static void plan_setup_PositionVario()
@ -176,7 +176,6 @@ static void plan_setup_PositionVario()
vario_control_lowpass[0] = 0.0f;
vario_control_lowpass[1] = 0.0f;
vario_control_lowpass[2] = 0.0f;
vario_control_lowpass[3] = 0.0f;
AttitudeStateYawGet(&vario_course);
plan_setup_positionHold();
}
@ -316,11 +315,9 @@ static void plan_run_PositionVario(vario_type type)
vario_control_lowpass[0] = alpha * vario_control_lowpass[0] + (1.0f - alpha) * controlVector[0];
vario_control_lowpass[1] = alpha * vario_control_lowpass[1] + (1.0f - alpha) * controlVector[1];
vario_control_lowpass[2] = alpha * vario_control_lowpass[2] + (1.0f - alpha) * controlVector[2];
vario_control_lowpass[3] = alpha * vario_control_lowpass[3] + (1.0f - alpha) * controlVector[3];
controlVector[0] = vario_control_lowpass[0];
controlVector[1] = vario_control_lowpass[1];
controlVector[2] = vario_control_lowpass[2];
controlVector[3] = vario_control_lowpass[3];
// check if movement is desired
if (normalizeDeadband(controlVector) == false) {

1
flight/modules/Stabilization/stabilization.c
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@ -102,7 +102,6 @@ int32_t StabilizationInitialize()
StabilizationSettingsBank3Initialize();
RateDesiredInitialize();
ManualControlCommandInitialize(); // only used for PID bank selection based on flight mode switch
// Code required for relay tuning
sin_lookup_initalize();
stabilizationOuterloopInit();

6
shared/uavobjectdefinition/flightmodesettings.xml
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@ -111,10 +111,8 @@
<field name="DisableSanityChecks" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
<field name="LandingVelocity" units="m" type="float" elements="1" defaultvalue="0.4"/>
<field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="10,2"/>
<!-- optimized for current vtolpathfollower,
for fixed wing pathfollower set to Horizontal=500,Vertical=5 -->
<field name="VarioControlLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.9"/>
<field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="30,15" description="stick sensitivity for position roam modes"/>
<field name="VarioControlLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.98" description="stick low pass filter for position roam modes"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

4
shared/uavobjectdefinition/vtolpathfollowersettings.xml
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@ -2,8 +2,8 @@
<object name="VtolPathFollowerSettings" singleinstance="true" settings="true" category="Control">
<description>Settings for the @ref VtolPathFollowerModule</description>
<field name="TreatCustomCraftAs" units="switch" type="enum" elements="1" options="FixedWing,VTOL" defaultvalue="FixedWing"/>
<field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="5.0"/>
<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="1.0"/>
<field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="10.0" description="maximum allowed horizontal movement velocity"/>
<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="4.0" description="maximum allowed climb/dive velocity"/>
<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0"/>
<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.25"/>
<field name="VerticalPosP" units="" type="float" elements="1" defaultvalue="0.4"/>