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Code Issues Releases Activity

Make the StabilizationSettings.MaxRate field only apply to the stabilized

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modes.  That way ManualRate can exceed MaxRate.
This commit is contained in:
James Cotton 2011-09-11 12:27:17 -05:00
parent aad41ebb4f
commit 6945f17eba
1 changed files with 13 additions and 5 deletions
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18
flight/Modules/Stabilization/stabilization.c
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@ -254,6 +254,13 @@ static void stabilizationTask(void* parameters)
} }
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE: case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]); rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
if(rateDesiredAxis[i] > settings.MaximumRate[i])
rateDesiredAxis[i] = settings.MaximumRate[i];
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
rateDesiredAxis[i] = -settings.MaximumRate[i];
axis_lock_accum[i] = 0; axis_lock_accum[i] = 0;
break; break;
@ -272,6 +279,12 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]); rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
} }
if(rateDesiredAxis[i] > settings.MaximumRate[i])
rateDesiredAxis[i] = settings.MaximumRate[i];
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
rateDesiredAxis[i] = -settings.MaximumRate[i];
break; break;
} }
} }
@ -284,11 +297,6 @@ static void stabilizationTask(void* parameters)
//Calculate desired command //Calculate desired command
for(int8_t ct=0; ct< MAX_AXES; ct++) for(int8_t ct=0; ct< MAX_AXES; ct++)
{ {
if(rateDesiredAxis[ct] > settings.MaximumRate[ct])
rateDesiredAxis[ct] = settings.MaximumRate[ct];
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
rateDesiredAxis[ct] = -settings.MaximumRate[ct];
switch(stabDesired.StabilizationMode[ct]) switch(stabDesired.StabilizationMode[ct])
{ {
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: