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Code Issues Releases Activity

OP-1259 WIP to merge next in locally

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This commit is contained in:
Cliff Geerdes 2014-03-26 13:48:24 -04:00
parent 6d7d10caba
commit 81f31e64a9
3 changed files with 205 additions and 145 deletions
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340
flight/modules/Stabilization/stabilization.c
View File

@ -113,6 +113,7 @@ static float cruise_control_power_trim;
static int8_t cruise_control_inverted_power_switch; static int8_t cruise_control_inverted_power_switch;
static float cruise_control_max_power_factor_angle; static float cruise_control_max_power_factor_angle;
static float cruise_control_half_power_delay; static float cruise_control_half_power_delay;
static float cruise_control_thrust_difference;
static uint8_t cruise_control_flight_mode_switch_pos_enable[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM]; static uint8_t cruise_control_flight_mode_switch_pos_enable[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
// Private functions // Private functions
@ -122,6 +123,9 @@ static void ZeroPids(void);
static void SettingsUpdatedCb(UAVObjEvent *ev); static void SettingsUpdatedCb(UAVObjEvent *ev);
static void BankUpdatedCb(UAVObjEvent *ev); static void BankUpdatedCb(UAVObjEvent *ev);
static void SettingsBankUpdatedCb(UAVObjEvent *ev); static void SettingsBankUpdatedCb(UAVObjEvent *ev);
static float CruiseControlAngleToFactor(float angle);
static float CruiseControlFactorToThrust(float factor, float stick_thrust);
static float CruiseControlLimitThrust(float thrust);
/** /**
* Module initialization * Module initialization
@ -433,7 +437,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
#define STICK_VALUE_AT_MODE_TRANSITION 0.618033989f #define STICK_VALUE_AT_MODE_TRANSITION 0.618033989f
// the following assumes the transition would otherwise be at 0.618033989f // the following assumes the transition would otherwise be at 0.618033989f
// and that assumes that Att ramps up to max roll rate // and THAT assumes that Att ramps up to max roll rate
// when a small number of degrees off of where it should be // when a small number of degrees off of where it should be
// if below the transition angle (still in attitude mode) // if below the transition angle (still in attitude mode)
@ -441,21 +445,24 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
if (magnitude <= rattitude_mode_transition_stick_position) { if (magnitude <= rattitude_mode_transition_stick_position) {
magnitude *= STICK_VALUE_AT_MODE_TRANSITION / rattitude_mode_transition_stick_position; magnitude *= STICK_VALUE_AT_MODE_TRANSITION / rattitude_mode_transition_stick_position;
} else { } else {
magnitude = (magnitude - rattitude_mode_transition_stick_position) * (1.0f-STICK_VALUE_AT_MODE_TRANSITION) / (1.0f - rattitude_mode_transition_stick_position) + STICK_VALUE_AT_MODE_TRANSITION; magnitude = (magnitude - rattitude_mode_transition_stick_position)
* (1.0f-STICK_VALUE_AT_MODE_TRANSITION)
/ (1.0f - rattitude_mode_transition_stick_position)
+ STICK_VALUE_AT_MODE_TRANSITION;
} }
rateDesiredAxis[i] = (1.0f - magnitude) * rateDesiredAxisAttitude rateDesiredAxis[i] = (1.0f - magnitude) * rateDesiredAxisAttitude
+ magnitude * rateDesiredAxisRate; + magnitude * rateDesiredAxisRate;
// Compute the inner loop for the averaged rate // Compute the inner loop for the averaged rate
// actuatorDesiredAxis[i] is the weighted average // actuatorDesiredAxis[i] is the weighted average
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT); actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor,
rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f); actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
break; break;
} }
case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR: case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
// Store for debugging output // Store for debugging output
rateDesiredAxis[i] = stabDesiredAxis[i]; rateDesiredAxis[i] = stabDesiredAxis[i];
@ -564,42 +571,47 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
// to maintain same altitude with changing bank angle // to maintain same altitude with changing bank angle
// but without manually adjusting thrust // but without manually adjusting thrust
// do it here and all the various flight modes (e.g. Altitude Hold) can use it // do it here and all the various flight modes (e.g. Altitude Hold) can use it
uint8_t previous_flight_mode_switch_position = 254; // something invalid
if (flight_mode_switch_position < FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM if (flight_mode_switch_position < FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM
&& cruise_control_flight_mode_switch_pos_enable[flight_mode_switch_position] != (uint8_t)0 && cruise_control_flight_mode_switch_pos_enable[flight_mode_switch_position] != (uint8_t)0
&& cruise_control_max_power_factor > 0.0001f) { && cruise_control_max_power_factor > 0.0001f) {
static float factor; static float factor;
static float previous_angle;
static uint32_t previous_time; static uint32_t previous_time;
static bool previous_time_valid; // initially false
static bool inverted_flight_mode;
static uint8_t calc_count; static uint8_t calc_count;
float angle; static uint8_t previous_flight_mode_switch_position;
uint32_t time; uint32_t time;
// flight mode has changed. there could be a time gap // flight mode has changed. there could be a time gap. leave thrust alone.
// angle could be invalid because of the time spent with CC off
// if (cruise_control_flight_mode_switch_pos_enable[flight_mode_switch_position] != cruise_control_flight_mode_switch_pos_enable[previous_flight_mode_switch_position]) {
if (flight_mode_switch_position != previous_flight_mode_switch_position) { if (flight_mode_switch_position != previous_flight_mode_switch_position) {
// flag to skip this loop because time diff may be invalid previous_flight_mode_switch_position = flight_mode_switch_position;
previous_time = 0; // flag to skip delay comp calculations and just use thrust as it is
// because time diff may be invalid
previous_time_valid = false;
} }
time = PIOS_DELAY_GetuS(); // good for 72 minutes, then it wraps (handled OK) time = PIOS_DELAY_GetuS(); // good for 72 minutes, then it wraps (handled OK)
// get attitude state and calculate angle // get attitude state and calculate angle
// do it every 8th iteration to save CPU // do it every 8th iteration to save CPU
if (time != previous_time && calc_count++ >= 8) { if ((time != previous_time && calc_count++ >= 8) || previous_time_valid == false) {
static float previous_angle; float angle;
float rate;
// float thrust;
calc_count = 0; calc_count = 0;
// spherical right triangle // spherical right triangle
// 0 <= acosf() <= Pi // 0 <= acosf() <= Pi(180)
angle = RAD2DEG(acosf(cos_lookup_deg(attitudeState.Roll) * cos_lookup_deg(attitudeState.Pitch))); angle = RAD2DEG(acosf(cos_lookup_deg(attitudeState.Roll) * cos_lookup_deg(attitudeState.Pitch)));
// combined bank angle change rate in degrees per second // combined bank angle change rate in degrees per second
// rate is currently calculated over the most recent CALCCOUNT loops // rate is currently calculated over the most recent CALCCOUNT loops
// it may be that the angle doesn't change at all between two consecutive passes
// because the sensors aren't read that often
// keeping the sign for rate is important, it can be negative // keeping the sign for rate is important, it can be negative
if (previous_time == 0UL) { if (previous_time_valid) {
rate = 0.0f; float rate;
} else {
// handle wrap around // handle wrap around
// the assumption here is that it's been less than 0x7fffffff since prev_time // the assumption here is that it's been less than 0x7fffffff since prev_time
// and thus likewise since time // and thus likewise since time
@ -609,98 +621,94 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
} else { // the wrap around case } else { // the wrap around case
rate = (angle - previous_angle) / ((float) ((uint32_t) ((int32_t) time - (int32_t) previous_time)) / 1000000.0f); rate = (angle - previous_angle) / ((float) ((uint32_t) ((int32_t) time - (int32_t) previous_time)) / 1000000.0f);
} }
}
previous_time = time;
previous_angle = angle;
// define "within range" to be those transitions that should be executing now // define "within range" to be those transitions that should be executing now
// - recall that each impulse transition is spread out over a range of time / angle // - recall that each impulse transition is spread out over a range of time / angle
// there is only one transition and the high power level for it is either // there is only one transition and the high power level for it is either
// = full thrust // = full thrust
// = max power factor // = max power factor
// = 1/fabsf(cos(angle)) // = 1/fabsf(cos(angle))
// OK, you could say there are two transitions in 360 degrees (90 and 270) // OK, you could say there are two transitions in 360 degrees (90 and 270)
{ if (actuatorDesired.Thrust > 0.0f) {
float thrust; float max_thrust;
{ // calculate the max positive thrust at the transition
float full_thrust_angle; // <5% t<5
// calculate angle where thrust is full (as limited by max_thrust) // 5.01% 19.3
full_thrust_angle = RAD2DEG(acosf(cruise_control_max_thrust / actuatorDesired.Thrust)); // 10% 38.6
// if full thrust comes before the artificially limited max_power_factor // 50% max
if (full_thrust_angle < cruise_control_max_power_factor_angle) { // 100% max
thrust = cruise_control_max_thrust; thrust = CruiseControlFactorToThrust(CruiseControlAngleToFactor(cruise_control_max_angle), actuatorDesired.Thrust);
} else {
thrust = cruise_control_max_power_factor * actuatorDesired.Thrust; /*
// 'full_thrust_angle' is now the angle that goes with 'thrust' revisit all the GCS settings
full_thrust_angle = cruise_control_max_power_factor_angle; 51 <= maxt <= 100
No (0 <= mint <= 49 plus -51 -> -100)
0 <= mint <= 49 or maybe -100 -> 49
1 <= mpf <= 50
50 <= trim <= 200
?? <= maxa <= 255?
0 <= pdc <= 2?
*/
// determine if we are in range of the transition
//CP helis go -max to +max and have min set to 0 and max to +1
//min_thrust is defined to be where the power goes when inverted
// calculate the actual proportion of change in thrust
switch (cruise_control_inverted_power_switch) {
case -3:
case -2:
// CP heli case, stroke is max to -max
thrust = (thrust + thrust) / cruise_control_thrust_difference;
break;
case -1:
// CP heli case, stroke is max to -stick
thrust = (thrust + CruiseControlLimitThrust(actuatorDesired.Thrust)) / cruise_control_thrust_difference;
break;
case 0:
// normal multi-copter case, stroke is max to zero
// technically max to constant min_thrust
// can be used by CP
thrust = (thrust - cruise_control_min_thrust) / cruise_control_thrust_difference;
//shit, cruise_control_thrust_difference is a problem, maybe remove it
//thrust_difference is always max-min, and now for CP it needs to be max+max here
//maybe not a problem since we don't limit thrust on the negative side any more
//CP: max=1.0, min=-1.0 diff=2.0
//MR: max=0.9, min=0.1 diff=0.8
break;
case 1:
// simply turn off boost, stroke is max to +stick
thrust = (thrust - CruiseControlLimitThrust(actuatorDesired.Thrust)) / cruise_control_thrust_difference;
break;
case 2:
// CP heli case, no transition, stroke is zero
thrust = 0.0f;
break;
} }
// if the transition is outside the max thrust regions // multiply this proportion of max stroke, times the max stroke time, to get this stroke time
if (full_thrust_angle < cruise_control_max_angle // we only want half of this time before the transition (and half after the transition)
|| 180.0f - cruise_control_max_angle < full_thrust_angle ) { thrust *= cruise_control_half_power_delay;
// max thrust is 1/cos(transition angle) // times angular rate gives angle that this stroke will take to execute
thrust = 1.0f / fabsf(cos_lookup_deg(cruise_control_max_angle)); thrust *= fabsf(rate);
// if the transition is within range we use it, else we just use the current calculated thrust
if (cruise_control_max_angle - thrust < angle
&& angle < cruise_control_max_angle + thrust) {
// default to a little above max angle
angle = cruise_control_max_angle + 0.01f;
// if roll direction is downward then thrust value is taken from below max angle
if (rate < 0.0f) {
angle -= 0.02f;
}
} }
}
// determine if we are in range of the transition factor = CruiseControlAngleToFactor(angle);
} else { // if thrust > 0 set factor from angle; else
// calculate the actual proportion of change in thrust factor = 1.0f;
switch (cruise_control_inverted_power_switch) {
case -3:
case -2:
// CP heli case, stroke is max to -max
// thrust = (thrust + thrust) / (cruise_control_max_thrust + cruise_control_max_thrust);
thrust /= cruise_control_max_thrust;
break;
case -1:
// CP heli case, stroke is max to -stick
thrust = (thrust + actuatorDesired.Thrust) / (cruise_control_max_thrust + cruise_control_max_thrust);
break;
case 0:
// normal multi-copter case, stroke is max to min
thrust = (thrust - cruise_control_min_thrust) / (cruise_control_max_thrust - cruise_control_min_thrust);
break;
case 1:
// simply turn off boost, stroke is max to stick
thrust = (thrust - actuatorDesired.Thrust) / (cruise_control_max_thrust - cruise_control_min_thrust);
break;
case 2:
// CP heli case, no transition, stroke is zero
thrust = 0.0f;
break;
} }
// multiply this proportion of max stroke, times the max stroke time, to get this stroke time
// we only want half of this time before the transition (and half after the transition)
thrust *= cruise_control_half_power_delay;
// times angular rate gives angle that this stroke will take to execute
thrust *= fabsf(rate);
// if the transition is within range we use it, else we just use the current calculated thrust
if (cruise_control_max_angle - thrust < angle
&& angle < cruise_control_max_angle + thrust) {
// default to a little above max angle
angle = cruise_control_max_angle + 0.01f;
// if roll direction is downward then thrust value is taken from below max angle
if (rate < 0.0f) {
angle -= 0.02f;
}
}
}
// avoid singularity
if (angle > 89.999f && angle < 90.001f) {
factor = cruise_control_max_power_factor;
} else {
// the simple bank angle boost calculation that Cruise Control revolves around
factor = 1.0f / fabsf(cos_lookup_deg(angle));
// factor in the power trim, no effect at 1.0, linear effect increases with factor
factor = (factor - 1.0f) * cruise_control_power_trim + 1.0f;
// limit to user specified max power multiplier
if (factor > cruise_control_max_power_factor) {
factor = cruise_control_max_power_factor;
}
}
/* /*
convert these to enums? something like convert these to enums? something like
@ -709,47 +717,46 @@ inverted thrust direction: unchanged, reversed
inverted power: zero, normal, boosted inverted power: zero, normal, boosted
inverted yaw/pitch reverse: off, on inverted yaw/pitch reverse: off, on
*/ */
// if past max angle and so needing to go into an inverted mode inverted_flight_mode = false;
if (angle >= cruise_control_max_angle) { // if past max angle and so needing to go into an inverted mode
// -3 inverted mode, -2 boosted reverse, -1 normal reverse, 0 zero power, 1 normal power, 2 boosted power if (angle >= cruise_control_max_angle) {
switch (cruise_control_inverted_power_switch) { // -3 inverted mode, -2 boosted reverse, -1 normal reverse, 0 zero power, 1 normal power, 2 boosted power
case -3: // reversed boosted thrust with pitch/yaw reverse switch (cruise_control_inverted_power_switch) {
actuatorDesired.Pitch = -actuatorDesired.Pitch; case -3: // reversed boosted thrust with pitch/yaw reverse
actuatorDesired.Yaw = -actuatorDesired.Yaw; inverted_flight_mode = true;
factor = -factor; factor = -factor;
break; break;
case -2: // reversed boosted thrust case -2: // reversed boosted thrust
factor = -factor; factor = -factor;
break; break;
case -1: // reversed normal thrust case -1: // reversed normal thrust
factor = -1.0f; factor = -1.0f;
break; break;
case 0: // no thrust case 0: // no thrust
factor = -0.0f; factor = 0.0f;
break; break;
case 1: // normal thrust case 1: // normal thrust
factor = 1.0f; factor = 1.0f;
break; break;
case 2: // normal boosted thrust case 2: // normal boosted thrust
// no change to factor // no change to factor
break; break;
}
} }
} } // if previous_time_valid i.e. we've got a rate; else leave (angle and) factor alone
} previous_time = time;
previous_time_valid = true;
previous_angle = angle;
} // every 8th time
// also don't adjust thrust if <= 0, leaves neg alone and zero thrust stops motors // don't touch thrust if it's less than min_thrust
if (actuatorDesired.Thrust > cruise_control_min_thrust) { // without this test, props will spin up to min thrust even at zero throttle stick
actuatorDesired.Thrust *= factor; actuatorDesired.Thrust = CruiseControlFactorToThrust(factor, actuatorDesired.Thrust);
// limit to user specified absolute max thrust if (inverted_flight_mode) {
if (actuatorDesired.Thrust > cruise_control_max_thrust) { actuatorDesired.Pitch = -actuatorDesired.Pitch;
actuatorDesired.Thrust = cruise_control_max_thrust; actuatorDesired.Yaw = -actuatorDesired.Yaw;
} else if (actuatorDesired.Thrust < cruise_control_min_thrust) {
actuatorDesired.Thrust = cruise_control_min_thrust;
}
} }
} } // if Cruise Control is enabled on this flight switch position
previous_flight_mode_switch_position = flight_mode_switch_position;
if (flightStatus.ControlChain.Stabilization == FLIGHTSTATUS_CONTROLCHAIN_TRUE) { if (flightStatus.ControlChain.Stabilization == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
ActuatorDesiredSet(&actuatorDesired); ActuatorDesiredSet(&actuatorDesired);
@ -920,6 +927,54 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
} }
static float CruiseControlAngleToFactor(float angle)
{
float factor;
// avoid singularity
if (angle > 89.999f && angle < 90.001f) {
factor = cruise_control_max_power_factor;
} else {
// the simple bank angle boost calculation that Cruise Control revolves around
factor = 1.0f / fabsf(cos_lookup_deg(angle));
// factor in the power trim, no effect at 1.0, linear effect increases with factor
factor = (factor - 1.0f) * cruise_control_power_trim + 1.0f;
// limit to user specified max power multiplier
if (factor > cruise_control_max_power_factor) {
factor = cruise_control_max_power_factor;
}
}
return (factor);
}
// assumes 1.0 <= factor <= 100.0
// a factor of less than 1.0 could make it return a value less than cruise_control_min_thrust
static float CruiseControlFactorToThrust(float factor, float thrust)
{
// don't touch if below min_thrust or we never get to full down stick
// e.g. multicopter motors always spin
if (thrust > cruise_control_min_thrust) {
thrust = CruiseControlLimitThrust(thrust * factor);
}
return (thrust);
}
// we don't want to limit it to cruise_control_min_thrust on the low side
// because that is always close to zero, and CP helis need to run down to -1
// but CP needs to have min=-1
static float CruiseControlLimitThrust(float thrust)
{
// limit to user specified absolute max thrust
if (thrust > cruise_control_max_thrust) {
thrust = cruise_control_max_thrust;
// } else if (thrust < cruise_control_min_thrust) {
// thrust = cruise_control_min_thrust;
}
return (thrust);
}
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{ {
StabilizationSettingsGet(&settings); StabilizationSettingsGet(&settings);
@ -957,10 +1012,10 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
cur_flight_mode = -1; cur_flight_mode = -1;
// Rattitude stick angle where the attitude to rate transition happens // Rattitude stick angle where the attitude to rate transition happens
if (settings.RattitudeModeTransistion < (uint8_t) 10) { if (settings.RattitudeModeTransition < (uint8_t) 10) {
rattitude_mode_transition_stick_position = 10.0f / 100.0f; rattitude_mode_transition_stick_position = 10.0f / 100.0f;
} else { } else {
rattitude_mode_transition_stick_position = (float)settings.RattitudeModeTransistion / 100.0f; rattitude_mode_transition_stick_position = (float)settings.RattitudeModeTransition / 100.0f;
} }
cruise_control_min_thrust = (float)settings.CruiseControlMinThrust / 100.0f; cruise_control_min_thrust = (float)settings.CruiseControlMinThrust / 100.0f;
@ -971,6 +1026,7 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
cruise_control_inverted_power_switch = settings.CruiseControlInvertedPowerSwitch; cruise_control_inverted_power_switch = settings.CruiseControlInvertedPowerSwitch;
cruise_control_half_power_delay = settings.CruiseControlPowerDelayComp / 2.0f; cruise_control_half_power_delay = settings.CruiseControlPowerDelayComp / 2.0f;
cruise_control_max_power_factor_angle = RAD2DEG(acosf(1.0f / settings.CruiseControlMaxPowerFactor)); cruise_control_max_power_factor_angle = RAD2DEG(acosf(1.0f / settings.CruiseControlMaxPowerFactor));
cruise_control_thrust_difference = cruise_control_max_thrust - cruise_control_min_thrust;
memcpy( memcpy(
cruise_control_flight_mode_switch_pos_enable, cruise_control_flight_mode_switch_pos_enable,

8
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -13377,6 +13377,7 @@ border-radius: 5;</string>
</property> </property>
<property name="decimals"> <property name="decimals">
<number>5</number> <number>5</number>
</property> </property>
<property name="singleStep"> <property name="singleStep">
<double>0.000100000000000</double> <double>0.000100000000000</double>
@ -19417,6 +19418,7 @@ border-radius: 5;</string>
</property> </property>
<property name="autoFillBackground"> <property name="autoFillBackground">
<bool>false</bool> <bool>false</bool>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@ -19941,6 +19943,7 @@ border-radius: 5;</string>
<red>39</red> <red>39</red>
<green>39</green> <green>39</green>
<blue>39</blue> <blue>39</blue>
</color> </color>
</brush> </brush>
</colorrole> </colorrole>
@ -21975,6 +21978,7 @@ border-radius: 5;</string>
</size> </size>
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="1" column="3"> <item row="1" column="3">
<widget class="QDoubleSpinBox" name="AccelKp"> <widget class="QDoubleSpinBox" name="AccelKp">
@ -24004,7 +24008,7 @@ border-radius: 5;</string>
</spacer> </spacer>
</item> </item>
<item row="1" column="1"> <item row="1" column="1">
<widget class="QDoubleSpinBox" name="RattitudeModeTransistion"> <widget class="QDoubleSpinBox" name="RattitudeModeTransition">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
@ -24050,7 +24054,7 @@ border-radius: 5;</string>
<property name="objrelation" stdset="0"> <property name="objrelation" stdset="0">
<stringlist> <stringlist>
<string>objname:StabilizationSettings</string> <string>objname:StabilizationSettings</string>
<string>fieldname:RattitudeModeTransistion</string> <string>fieldname:RattitudeModeTransition</string>
<string>haslimits:no</string> <string>haslimits:no</string>
<string>scale:1</string> <string>scale:1</string>
<string>buttongroup:15</string> <string>buttongroup:15</string>

2
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -28,7 +28,7 @@
<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/> <field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/> <field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
<field name="RattitudeModeTransistion" units="%" type="uint8" elements="1" defaultvalue="80"/> <field name="RattitudeModeTransition" units="%" type="uint8" elements="1" defaultvalue="80"/>
<field name="CruiseControlMinThrust" units="%" type="uint8" elements="1" defaultvalue="5"/> <field name="CruiseControlMinThrust" units="%" type="uint8" elements="1" defaultvalue="5"/>
<field name="CruiseControlMaxThrust" units="%" type="uint8" elements="1" defaultvalue="90"/> <field name="CruiseControlMaxThrust" units="%" type="uint8" elements="1" defaultvalue="90"/>