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Merged in f5soh/librepilot/LP-576_Default_Yaw_stabilization_automomous_modes (pull request #492)

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LP-576 Made AxisLock as default for Yaw stabilization in all autonomous modes.

Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Philippe Renon <philippe_renon@yahoo.fr>
This commit is contained in:
Lalanne Laurent 2018-04-29 17:28:47 +00:00 committed by Philippe Renon
commit 66bbc2b47b
5 changed files with 5 additions and 5 deletions
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2
flight/modules/AutoTune/autotune.c
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@ -835,7 +835,7 @@ static void UpdateStabilizationDesired(bool doingIdent)
} else {
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
}
if (systemIdentSettings.ThrustControl == SYSTEMIDENTSETTINGS_THRUSTCONTROL_ALTITUDEVARIO) {

2
flight/modules/PathFollower/pathfollower.cpp
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@ -477,7 +477,7 @@ static void updateFixedAttitude(float *attitude)
stabDesired.Thrust = attitude[3];
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
StabilizationDesiredSet(&stabDesired);
}

2
flight/modules/PathFollower/vtolbrakecontroller.cpp
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@ -289,7 +289,7 @@ int8_t VtolBrakeController::UpdateStabilizationDesired(void)
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
// default thrust mode to cruise control

2
flight/modules/PathFollower/vtolflycontroller.cpp
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@ -343,7 +343,7 @@ void VtolFlyController::UpdateDesiredAttitudeEmergencyFallback()
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
StabilizationDesiredSet(&stabDesired);
}

2
flight/modules/PathFollower/vtolvelocitycontroller.cpp
View File

@ -180,7 +180,7 @@ int8_t VtolVelocityController::UpdateStabilizationDesired(__attribute__((unused)
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
// default thrust mode to altvario