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https://bitbucket.org/librepilot/librepilot.git
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Merge branch 'LesNewell/OP-984_PID_banks' into next
This commit is contained in:
commit
8eb2eefec7
@ -46,7 +46,7 @@
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#include "manualcontrolcommand.h"
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#include "positionstate.h"
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#include "pathdesired.h"
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#include "stabilizationsettings.h"
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#include "stabilizationbank.h"
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#include "stabilizationdesired.h"
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#include "receiveractivity.h"
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#include "systemsettings.h"
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@ -668,8 +668,8 @@ static void updateStabilizationDesired(ManualControlCommandData *cmd, ManualCont
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StabilizationDesiredGet(&stabilization);
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StabilizationSettingsData stabSettings;
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StabilizationSettingsGet(&stabSettings);
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StabilizationBankData stabSettings;
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StabilizationBankGet(&stabSettings);
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uint8_t *stab_settings;
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FlightStatusData flightStatus;
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@ -871,8 +871,8 @@ static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed)
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AltitudeHoldSettingsThrottleRateGet(&throttleRate);
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}
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StabilizationSettingsData stabSettings;
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StabilizationSettingsGet(&stabSettings);
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StabilizationBankData stabSettings;
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StabilizationBankGet(&stabSettings);
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thisSysTime = xTaskGetTickCount();
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dT = ((thisSysTime == lastSysTimeAH) ? 0.001f : (thisSysTime - lastSysTimeAH) * portTICK_RATE_MS * 0.001f);
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@ -35,6 +35,10 @@
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#include <pios_struct_helper.h>
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#include "stabilization.h"
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#include "stabilizationsettings.h"
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#include "stabilizationbank.h"
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#include "stabilizationsettingsbank1.h"
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#include "stabilizationsettingsbank2.h"
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#include "stabilizationsettingsbank3.h"
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#include "actuatordesired.h"
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#include "ratedesired.h"
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#include "relaytuning.h"
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@ -65,13 +69,15 @@
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#if defined(PIOS_STABILIZATION_STACK_SIZE)
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#define STACK_SIZE_BYTES PIOS_STABILIZATION_STACK_SIZE
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#else
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#define STACK_SIZE_BYTES 724
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#define STACK_SIZE_BYTES 790
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#endif
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
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#define FAILSAFE_TIMEOUT_MS 30
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enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX };
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enum{RATE_P, RATE_I, RATE_D, RATE_LIMIT, RATE_OFFSET};
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enum{ATT_P, ATT_I, ATT_LIMIT, ATT_OFFSET};
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// Private variables
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@ -88,12 +94,15 @@ bool lowThrottleZeroIntegral;
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bool lowThrottleZeroAxis[MAX_AXES];
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float vbar_decay = 0.991f;
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struct pid pids[PID_MAX];
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int flight_mode = -1;
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// Private functions
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static void stabilizationTask(void *parameters);
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static float bound(float val, float range);
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static void ZeroPids(void);
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static void SettingsUpdatedCb(UAVObjEvent *ev);
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static void BankUpdatedCb(UAVObjEvent *ev);
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static void SettingsBankUpdatedCb(UAVObjEvent *ev);
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/**
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* Module initialization
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@ -111,6 +120,13 @@ int32_t StabilizationStart()
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StabilizationSettingsConnectCallback(SettingsUpdatedCb);
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SettingsUpdatedCb(StabilizationSettingsHandle());
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StabilizationBankConnectCallback(BankUpdatedCb);
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StabilizationSettingsBank1ConnectCallback(SettingsBankUpdatedCb);
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StabilizationSettingsBank2ConnectCallback(SettingsBankUpdatedCb);
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StabilizationSettingsBank3ConnectCallback(SettingsBankUpdatedCb);
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// Start main task
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xTaskCreate(stabilizationTask, (signed char *)"Stabilization", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_STABILIZATION, taskHandle);
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@ -127,6 +143,10 @@ int32_t StabilizationInitialize()
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{
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// Initialize variables
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StabilizationSettingsInitialize();
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StabilizationBankInitialize();
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StabilizationSettingsBank1Initialize();
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StabilizationSettingsBank2Initialize();
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StabilizationSettingsBank3Initialize();
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ActuatorDesiredInitialize();
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#ifdef DIAG_RATEDESIRED
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RateDesiredInitialize();
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@ -159,6 +179,8 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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AttitudeStateData attitudeState;
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GyroStateData gyroStateData;
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FlightStatusData flightStatus;
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StabilizationBankData stabBank;
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#ifdef REVOLUTION
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AirspeedStateData airspeedState;
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@ -188,9 +210,16 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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StabilizationDesiredGet(&stabDesired);
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AttitudeStateGet(&attitudeState);
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GyroStateGet(&gyroStateData);
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StabilizationBankGet(&stabBank);
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#ifdef DIAG_RATEDESIRED
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RateDesiredGet(&rateDesired);
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#endif
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if(flight_mode != flightStatus.FlightMode){
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flight_mode = flightStatus.FlightMode;
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SettingsBankUpdatedCb(NULL);
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}
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#ifdef REVOLUTION
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float speedScaleFactor;
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// Scale PID coefficients based on current airspeed estimation - needed for fixed wing planes
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@ -288,7 +317,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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// Store to rate desired variable for storing to UAVO
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rateDesiredAxis[i] =
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bound(attitudeDesiredAxis[i], cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]);
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bound(attitudeDesiredAxis[i], cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
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// Compute the inner loop
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actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
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@ -305,7 +334,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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// Compute the outer loop
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rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], local_error[i], dT);
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rateDesiredAxis[i] = bound(rateDesiredAxis[i],
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cast_struct_to_array(settings.MaximumRate, settings.MaximumRate.Roll)[i]);
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cast_struct_to_array(stabBank.MaximumRate, stabBank.MaximumRate.Roll)[i]);
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// Compute the inner loop
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actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
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@ -357,7 +386,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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}
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rateDesiredAxis[i] = bound(rateDesiredAxis[i],
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cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]);
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cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
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actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
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actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
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@ -367,7 +396,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE:
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// Store to rate desired variable for storing to UAVO
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rateDesiredAxis[i] = bound(attitudeDesiredAxis[i],
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cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]);
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cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
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// Run the relay controller which also estimates the oscillation parameters
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stabilization_relay_rate(rateDesiredAxis[i] - gyro_filtered[i], &actuatorDesiredAxis[i], i, reinit);
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@ -383,7 +412,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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// Compute the outer loop like attitude mode
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rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], local_error[i], dT);
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rateDesiredAxis[i] = bound(rateDesiredAxis[i],
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cast_struct_to_array(settings.MaximumRate, settings.MaximumRate.Roll)[i]);
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cast_struct_to_array(stabBank.MaximumRate, stabBank.MaximumRate.Roll)[i]);
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// Run the relay controller which also estimates the oscillation parameters
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stabilization_relay_rate(rateDesiredAxis[i] - gyro_filtered[i], &actuatorDesiredAxis[i], i, reinit);
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@ -484,43 +513,125 @@ static float bound(float val, float range)
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return val;
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}
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static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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StabilizationBankData bank, oldBank;
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StabilizationBankGet(&oldBank);
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if(flight_mode < 0) return;
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switch(cast_struct_to_array(settings.FlightModeMap, settings.FlightModeMap.Stabilized1)[flight_mode])
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{
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case 0:
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StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *) &bank);
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break;
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case 1:
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StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *) &bank);
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break;
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case 2:
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StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *) &bank);
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break;
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default:
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memset(&bank, 0, sizeof(StabilizationBankDataPacked));
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// return; //bank number is invalid. All we can do is ignore it.
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}
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//Need to do this to prevent an infinite loop
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if(memcmp(&oldBank, &bank, sizeof(StabilizationBankDataPacked)) != 0)
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{
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StabilizationBankSet(&bank);
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}
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}
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static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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StabilizationBankData bank;
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StabilizationBankGet(&bank);
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//this code will be needed if any other modules alter stabilizationbank
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/*
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StabilizationBankData curBank;
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if(flight_mode < 0) return;
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switch(cast_struct_to_array(settings.FlightModeMap, settings.FlightModeMap.Stabilized1)[flight_mode])
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{
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case 0:
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StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *) &curBank);
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if(memcmp(&curBank, &bank, sizeof(StabilizationBankDataPacked)) != 0)
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{
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StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *) &bank);
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}
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break;
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case 1:
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StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *) &curBank);
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if(memcmp(&curBank, &bank, sizeof(StabilizationBankDataPacked)) != 0)
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{
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StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *) &bank);
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}
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break;
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case 2:
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StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *) &curBank);
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if(memcmp(&curBank, &bank, sizeof(StabilizationBankDataPacked)) != 0)
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{
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StabilizationSettingsBank3Set((StabilizationSettingsBank3Data *) &bank);
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}
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break;
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default:
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return; //invalid bank number
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}
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*/
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// Set the roll rate PID constants
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pid_configure(&pids[PID_RATE_ROLL], bank.RollRatePID.Kp,
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bank.RollRatePID.Ki,
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bank.RollRatePID.Kd,
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bank.RollRatePID.ILimit);
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// Set the pitch rate PID constants
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pid_configure(&pids[PID_RATE_PITCH], bank.PitchRatePID.Kp,
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bank.PitchRatePID.Ki,
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bank.PitchRatePID.Kd,
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bank.PitchRatePID.ILimit);
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// Set the yaw rate PID constants
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pid_configure(&pids[PID_RATE_YAW], bank.YawRatePID.Kp,
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bank.YawRatePID.Ki,
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bank.YawRatePID.Kd,
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bank.YawRatePID.ILimit);
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// Set the roll attitude PI constants
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pid_configure(&pids[PID_ROLL], bank.RollPI.Kp,
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bank.RollPI.Ki,
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0,
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bank.RollPI.ILimit);
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|
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// Set the pitch attitude PI constants
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pid_configure(&pids[PID_PITCH], bank.PitchPI.Kp,
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bank.PitchPI.Ki,
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0,
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bank.PitchPI.ILimit);
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|
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// Set the yaw attitude PI constants
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pid_configure(&pids[PID_YAW], bank.YawPI.Kp,
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bank.YawPI.Ki,
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0,
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bank.YawPI.ILimit);
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}
|
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|
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|
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static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
|
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StabilizationSettingsGet(&settings);
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|
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// Set the roll rate PID constants
|
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pid_configure(&pids[PID_RATE_ROLL], settings.RollRatePID.Kp,
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settings.RollRatePID.Ki,
|
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pids[PID_RATE_ROLL].d = settings.RollRatePID.Kd,
|
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pids[PID_RATE_ROLL].iLim = settings.RollRatePID.ILimit);
|
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|
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// Set the pitch rate PID constants
|
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pid_configure(&pids[PID_RATE_PITCH], settings.PitchRatePID.Kp,
|
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pids[PID_RATE_PITCH].i = settings.PitchRatePID.Ki,
|
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pids[PID_RATE_PITCH].d = settings.PitchRatePID.Kd,
|
||||
pids[PID_RATE_PITCH].iLim = settings.PitchRatePID.ILimit);
|
||||
|
||||
// Set the yaw rate PID constants
|
||||
pid_configure(&pids[PID_RATE_YAW], settings.YawRatePID.Kp,
|
||||
pids[PID_RATE_YAW].i = settings.YawRatePID.Ki,
|
||||
pids[PID_RATE_YAW].d = settings.YawRatePID.Kd,
|
||||
pids[PID_RATE_YAW].iLim = settings.YawRatePID.ILimit);
|
||||
|
||||
// Set the roll attitude PI constants
|
||||
pid_configure(&pids[PID_ROLL], settings.RollPI.Kp,
|
||||
settings.RollPI.Ki, 0,
|
||||
pids[PID_ROLL].iLim = settings.RollPI.ILimit);
|
||||
|
||||
// Set the pitch attitude PI constants
|
||||
pid_configure(&pids[PID_PITCH], settings.PitchPI.Kp,
|
||||
pids[PID_PITCH].i = settings.PitchPI.Ki, 0,
|
||||
settings.PitchPI.ILimit);
|
||||
|
||||
// Set the yaw attitude PI constants
|
||||
pid_configure(&pids[PID_YAW], settings.YawPI.Kp,
|
||||
settings.YawPI.Ki, 0,
|
||||
settings.YawPI.ILimit);
|
||||
|
||||
// Set up the derivative term
|
||||
pid_configure_derivative(settings.DerivativeCutoff, settings.DerivativeGamma);
|
||||
|
||||
@ -554,6 +665,8 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
|
||||
// Compute time constant for vbar decay term based on a tau
|
||||
vbar_decay = expf(-fakeDt / settings.VbarTau);
|
||||
|
||||
flight_mode = -1; //force flight mode update
|
||||
}
|
||||
|
||||
|
||||
|
@ -56,6 +56,10 @@
|
||||
#include "accessorydesired.h"
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "stabilizationsettings.h"
|
||||
#include "stabilizationbank.h"
|
||||
#include "stabilizationsettingsbank1.h"
|
||||
#include "stabilizationsettingsbank2.h"
|
||||
#include "stabilizationsettingsbank3.h"
|
||||
#include "flightstatus.h"
|
||||
#include "hwsettings.h"
|
||||
|
||||
@ -163,11 +167,30 @@ static void updatePIDs(UAVObjEvent *ev)
|
||||
return;
|
||||
}
|
||||
|
||||
StabilizationBankData bank;
|
||||
switch(inst.BankNumber)
|
||||
{
|
||||
case 0:
|
||||
StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *) &bank);
|
||||
break;
|
||||
|
||||
case 1:
|
||||
StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *) &bank);
|
||||
break;
|
||||
|
||||
case 2:
|
||||
StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *) &bank);
|
||||
break;
|
||||
|
||||
default:
|
||||
return;
|
||||
}
|
||||
StabilizationSettingsData stab;
|
||||
StabilizationSettingsGet(&stab);
|
||||
AccessoryDesiredData accessory;
|
||||
|
||||
uint8_t needsUpdate = 0;
|
||||
uint8_t needsUpdateBank = 0;
|
||||
uint8_t needsUpdateStab = 0;
|
||||
|
||||
// Loop through every enabled instance
|
||||
for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) {
|
||||
@ -192,107 +215,126 @@ static void updatePIDs(UAVObjEvent *ev)
|
||||
|
||||
switch (cast_struct_to_array(inst.PIDs, inst.PIDs.Instance1)[i]) {
|
||||
case TXPIDSETTINGS_PIDS_ROLLRATEKP:
|
||||
needsUpdate |= update(&stab.RollRatePID.Kp, value);
|
||||
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLRATEKI:
|
||||
needsUpdate |= update(&stab.RollRatePID.Ki, value);
|
||||
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLRATEKD:
|
||||
needsUpdate |= update(&stab.RollRatePID.Kd, value);
|
||||
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
|
||||
needsUpdate |= update(&stab.RollRatePID.ILimit, value);
|
||||
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
|
||||
needsUpdate |= update(&stab.RollPI.Kp, value);
|
||||
needsUpdateBank |= update(&bank.RollPI.Kp, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
|
||||
needsUpdate |= update(&stab.RollPI.Ki, value);
|
||||
needsUpdateBank |= update(&bank.RollPI.Ki, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
|
||||
needsUpdate |= update(&stab.RollPI.ILimit, value);
|
||||
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_PITCHRATEKP:
|
||||
needsUpdate |= update(&stab.PitchRatePID.Kp, value);
|
||||
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_PITCHRATEKI:
|
||||
needsUpdate |= update(&stab.PitchRatePID.Ki, value);
|
||||
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_PITCHRATEKD:
|
||||
needsUpdate |= update(&stab.PitchRatePID.Kd, value);
|
||||
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
|
||||
needsUpdate |= update(&stab.PitchRatePID.ILimit, value);
|
||||
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
|
||||
needsUpdate |= update(&stab.PitchPI.Kp, value);
|
||||
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
|
||||
needsUpdate |= update(&stab.PitchPI.Ki, value);
|
||||
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
|
||||
needsUpdate |= update(&stab.PitchPI.ILimit, value);
|
||||
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
|
||||
needsUpdate |= update(&stab.RollRatePID.Kp, value);
|
||||
needsUpdate |= update(&stab.PitchRatePID.Kp, value);
|
||||
needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
|
||||
needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
|
||||
needsUpdate |= update(&stab.RollRatePID.Ki, value);
|
||||
needsUpdate |= update(&stab.PitchRatePID.Ki, value);
|
||||
needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
|
||||
needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
|
||||
needsUpdate |= update(&stab.RollRatePID.Kd, value);
|
||||
needsUpdate |= update(&stab.PitchRatePID.Kd, value);
|
||||
needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
|
||||
needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
|
||||
needsUpdate |= update(&stab.RollRatePID.ILimit, value);
|
||||
needsUpdate |= update(&stab.PitchRatePID.ILimit, value);
|
||||
needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
|
||||
needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
|
||||
needsUpdate |= update(&stab.RollPI.Kp, value);
|
||||
needsUpdate |= update(&stab.PitchPI.Kp, value);
|
||||
needsUpdateBank |= update(&bank.RollPI.Kp, value);
|
||||
needsUpdateBank |= update(&bank.PitchPI.Kp, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
|
||||
needsUpdate |= update(&stab.RollPI.Ki, value);
|
||||
needsUpdate |= update(&stab.PitchPI.Ki, value);
|
||||
needsUpdateBank |= update(&bank.RollPI.Ki, value);
|
||||
needsUpdateBank |= update(&bank.PitchPI.Ki, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
|
||||
needsUpdate |= update(&stab.RollPI.ILimit, value);
|
||||
needsUpdate |= update(&stab.PitchPI.ILimit, value);
|
||||
needsUpdateBank |= update(&bank.RollPI.ILimit, value);
|
||||
needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_YAWRATEKP:
|
||||
needsUpdate |= update(&stab.YawRatePID.Kp, value);
|
||||
needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_YAWRATEKI:
|
||||
needsUpdate |= update(&stab.YawRatePID.Ki, value);
|
||||
needsUpdateBank |= update(&bank.YawRatePID.Ki, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_YAWRATEKD:
|
||||
needsUpdate |= update(&stab.YawRatePID.Kd, value);
|
||||
needsUpdateBank |= update(&bank.YawRatePID.Kd, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
|
||||
needsUpdate |= update(&stab.YawRatePID.ILimit, value);
|
||||
needsUpdateBank |= update(&bank.YawRatePID.ILimit, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
|
||||
needsUpdate |= update(&stab.YawPI.Kp, value);
|
||||
needsUpdateBank |= update(&bank.YawPI.Kp, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
|
||||
needsUpdate |= update(&stab.YawPI.Ki, value);
|
||||
needsUpdateBank |= update(&bank.YawPI.Ki, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
|
||||
needsUpdate |= update(&stab.YawPI.ILimit, value);
|
||||
needsUpdateBank |= update(&bank.YawPI.ILimit, value);
|
||||
break;
|
||||
case TXPIDSETTINGS_PIDS_GYROTAU:
|
||||
needsUpdate |= update(&stab.GyroTau, value);
|
||||
needsUpdateStab |= update(&stab.GyroTau, value);
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
}
|
||||
}
|
||||
if (needsUpdate) {
|
||||
if (needsUpdateStab) {
|
||||
StabilizationSettingsSet(&stab);
|
||||
}
|
||||
if (needsUpdateBank) {
|
||||
switch(inst.BankNumber)
|
||||
{
|
||||
case 0:
|
||||
StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *) &bank);
|
||||
break;
|
||||
|
||||
case 1:
|
||||
StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *) &bank);
|
||||
break;
|
||||
|
||||
case 2:
|
||||
StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *) &bank);
|
||||
break;
|
||||
|
||||
default:
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
|
@ -65,6 +65,7 @@
|
||||
#include "nedaccel.h"
|
||||
#include "stabilizationdesired.h"
|
||||
#include "stabilizationsettings.h"
|
||||
#include "stabilizationbank.h"
|
||||
#include "systemsettings.h"
|
||||
#include "velocitydesired.h"
|
||||
#include "velocitystate.h"
|
||||
@ -575,7 +576,7 @@ static void updateVtolDesiredAttitude(bool yaw_attitude)
|
||||
StabilizationDesiredData stabDesired;
|
||||
AttitudeStateData attitudeState;
|
||||
NedAccelData nedAccel;
|
||||
StabilizationSettingsData stabSettings;
|
||||
StabilizationBankData stabSettings;
|
||||
SystemSettingsData systemSettings;
|
||||
|
||||
float northError;
|
||||
@ -593,7 +594,7 @@ static void updateVtolDesiredAttitude(bool yaw_attitude)
|
||||
StabilizationDesiredGet(&stabDesired);
|
||||
VelocityDesiredGet(&velocityDesired);
|
||||
AttitudeStateGet(&attitudeState);
|
||||
StabilizationSettingsGet(&stabSettings);
|
||||
StabilizationBankGet(&stabSettings);
|
||||
NedAccelGet(&nedAccel);
|
||||
|
||||
float northVel = 0, eastVel = 0, downVel = 0;
|
||||
|
@ -84,6 +84,10 @@ ifndef TESTAPP
|
||||
SRC += $(OPUAVSYNTHDIR)/systemsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationdesired.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationsettings.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank1.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank2.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank3.c
|
||||
SRC += $(OPUAVSYNTHDIR)/stabilizationbank.c
|
||||
SRC += $(OPUAVSYNTHDIR)/actuatorcommand.c
|
||||
SRC += $(OPUAVSYNTHDIR)/actuatordesired.c
|
||||
SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c
|
||||
|
@ -156,7 +156,7 @@
|
||||
#define PIOS_ACTUATOR_STACK_SIZE 1020
|
||||
#define PIOS_MANUAL_STACK_SIZE 800
|
||||
#define PIOS_SYSTEM_STACK_SIZE 660
|
||||
#define PIOS_STABILIZATION_STACK_SIZE 524
|
||||
#define PIOS_STABILIZATION_STACK_SIZE 790
|
||||
#define PIOS_TELEM_STACK_SIZE 800
|
||||
#define PIOS_EVENTDISPATCHER_STACK_SIZE 130
|
||||
|
||||
|
@ -82,6 +82,10 @@ UAVOBJSRCFILENAMES += revosettings
|
||||
UAVOBJSRCFILENAMES += sonaraltitude
|
||||
UAVOBJSRCFILENAMES += stabilizationdesired
|
||||
UAVOBJSRCFILENAMES += stabilizationsettings
|
||||
UAVOBJSRCFILENAMES += stabilizationsettingsbank1
|
||||
UAVOBJSRCFILENAMES += stabilizationsettingsbank2
|
||||
UAVOBJSRCFILENAMES += stabilizationsettingsbank3
|
||||
UAVOBJSRCFILENAMES += stabilizationbank
|
||||
UAVOBJSRCFILENAMES += systemalarms
|
||||
UAVOBJSRCFILENAMES += systemsettings
|
||||
UAVOBJSRCFILENAMES += systemstats
|
||||
|
@ -4,7 +4,7 @@
|
||||
# Makefile for OpenPilot UAVObject code
|
||||
#
|
||||
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2011.
|
||||
#
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 3 of the License, or
|
||||
@ -82,6 +82,10 @@ UAVOBJSRCFILENAMES += revosettings
|
||||
UAVOBJSRCFILENAMES += sonaraltitude
|
||||
UAVOBJSRCFILENAMES += stabilizationdesired
|
||||
UAVOBJSRCFILENAMES += stabilizationsettings
|
||||
UAVOBJSRCFILENAMES += stabilizationsettingsbank1
|
||||
UAVOBJSRCFILENAMES += stabilizationsettingsbank2
|
||||
UAVOBJSRCFILENAMES += stabilizationsettingsbank3
|
||||
UAVOBJSRCFILENAMES += stabilizationbank
|
||||
UAVOBJSRCFILENAMES += systemalarms
|
||||
UAVOBJSRCFILENAMES += systemsettings
|
||||
UAVOBJSRCFILENAMES += systemstats
|
||||
|
@ -4,7 +4,7 @@
|
||||
# Makefile for OpenPilot UAVObject code
|
||||
#
|
||||
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2011.
|
||||
#
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 3 of the License, or
|
||||
@ -82,6 +82,10 @@ UAVOBJSRCFILENAMES += relaytuningsettings
|
||||
UAVOBJSRCFILENAMES += sonaraltitude
|
||||
UAVOBJSRCFILENAMES += stabilizationdesired
|
||||
UAVOBJSRCFILENAMES += stabilizationsettings
|
||||
UAVOBJSRCFILENAMES += stabilizationsettingsbank1
|
||||
UAVOBJSRCFILENAMES += stabilizationsettingsbank2
|
||||
UAVOBJSRCFILENAMES += stabilizationsettingsbank3
|
||||
UAVOBJSRCFILENAMES += stabilizationbank
|
||||
UAVOBJSRCFILENAMES += systemalarms
|
||||
UAVOBJSRCFILENAMES += systemsettings
|
||||
UAVOBJSRCFILENAMES += systemstats
|
||||
@ -98,8 +102,8 @@ UAVOBJSRCFILENAMES += hwsettings
|
||||
UAVOBJSRCFILENAMES += receiveractivity
|
||||
UAVOBJSRCFILENAMES += cameradesired
|
||||
UAVOBJSRCFILENAMES += camerastabsettings
|
||||
UAVOBJSRCFILENAMES += altitudeholdsettings
|
||||
UAVOBJSRCFILENAMES += altitudefiltersettings
|
||||
UAVOBJSRCFILENAMES += altitudeholdsettings
|
||||
UAVOBJSRCFILENAMES += altitudefiltersettings
|
||||
UAVOBJSRCFILENAMES += revosettings
|
||||
UAVOBJSRCFILENAMES += altitudeholddesired
|
||||
UAVOBJSRCFILENAMES += ekfconfiguration
|
||||
|
@ -1312,7 +1312,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollMax</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
@ -1346,7 +1346,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:ManualRate</string>
|
||||
<string>element:Roll</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -1394,7 +1394,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:ManualRate</string>
|
||||
<string>element:Roll</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -2583,7 +2583,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollMax</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
@ -2617,7 +2617,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:ManualRate</string>
|
||||
<string>element:Yaw</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -2668,7 +2668,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:ManualRate</string>
|
||||
<string>element:Yaw</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -4448,7 +4448,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollRatePID</string>
|
||||
<string>element:Kp</string>
|
||||
<string>haslimits:yes</string>
|
||||
@ -4487,7 +4487,7 @@ Then lower the value by 5 or so.</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollRatePID</string>
|
||||
<string>element:Kp</string>
|
||||
<string>haslimits:yes</string>
|
||||
@ -4562,7 +4562,7 @@ Then lower the value by 5 or so.</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawRatePID</string>
|
||||
<string>element:Kp</string>
|
||||
<string>haslimits:yes</string>
|
||||
@ -4612,7 +4612,7 @@ Then lower the value by 5 or so.</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchRatePID</string>
|
||||
<string>element:Kp</string>
|
||||
<string>haslimits:yes</string>
|
||||
@ -4651,7 +4651,7 @@ Then lower the value by 5 or so.</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchRatePID</string>
|
||||
<string>element:Kp</string>
|
||||
<string>haslimits:yes</string>
|
||||
@ -4690,7 +4690,7 @@ Then lower the value by 5 or so.</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawRatePID</string>
|
||||
<string>element:Kp</string>
|
||||
<string>haslimits:yes</string>
|
||||
@ -4740,7 +4740,7 @@ Then lower the value by 5 or so.</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollRatePID</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:yes</string>
|
||||
@ -4798,7 +4798,7 @@ value as the Kp.</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollRatePID</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:yes</string>
|
||||
@ -4837,7 +4837,7 @@ value as the Kp.</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawRatePID</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:yes</string>
|
||||
@ -4887,7 +4887,7 @@ value as the Kp.</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawRatePID</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:yes</string>
|
||||
@ -4937,7 +4937,7 @@ value as the Kp.</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchRatePID</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:yes</string>
|
||||
@ -4976,7 +4976,7 @@ value as the Kp.</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchRatePID</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:yes</string>
|
||||
@ -8349,7 +8349,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollPI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>scale:0.1</string>
|
||||
@ -8384,7 +8384,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollPI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>scale:0.1</string>
|
||||
@ -8434,7 +8434,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchPI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>scale:0.1</string>
|
||||
@ -8469,7 +8469,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchPI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>scale:0.1</string>
|
||||
@ -8519,7 +8519,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawPI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>scale:0.1</string>
|
||||
@ -8554,7 +8554,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawPI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>scale:0.1</string>
|
||||
@ -9989,7 +9989,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchMax</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
@ -10072,7 +10072,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:MaximumRate</string>
|
||||
<string>element:Roll</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -10141,7 +10141,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:ManualRate</string>
|
||||
<string>element:Yaw</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -10194,7 +10194,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawMax</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
@ -10246,7 +10246,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:MaximumRate</string>
|
||||
<string>element:Pitch</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -11456,7 +11456,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:ManualRate</string>
|
||||
<string>element:Pitch</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -12075,7 +12075,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:ManualRate</string>
|
||||
<string>element:Roll</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -12131,7 +12131,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollMax</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
@ -12183,7 +12183,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:MaximumRate</string>
|
||||
<string>element:Yaw</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -13352,7 +13352,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchRatePID</string>
|
||||
<string>element:Kd</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -13971,7 +13971,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawRatePID</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -14021,7 +14021,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchRatePID</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -14071,7 +14071,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawRatePID</string>
|
||||
<string>element:Kp</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -14121,7 +14121,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawRatePID</string>
|
||||
<string>element:Kd</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -15328,7 +15328,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollRatePID</string>
|
||||
<string>element:Kp</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -15394,7 +15394,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollRatePID</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -15475,7 +15475,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchRatePID</string>
|
||||
<string>element:Kp</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -15525,7 +15525,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollRatePID</string>
|
||||
<string>element:Kd</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -18378,7 +18378,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollPI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -18428,7 +18428,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchPI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -18478,7 +18478,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawPI</string>
|
||||
<string>element:Kp</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -18563,7 +18563,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollPI</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -18629,7 +18629,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchPI</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -18695,7 +18695,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawPI</string>
|
||||
<string>element:Ki</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -21937,7 +21937,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchRatePID</string>
|
||||
<string>element:ILimit</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -21990,7 +21990,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollRatePID</string>
|
||||
<string>element:ILimit</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -23140,7 +23140,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawPI</string>
|
||||
<string>element:ILimit</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -23221,7 +23221,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:PitchPI</string>
|
||||
<string>element:ILimit</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -23331,7 +23331,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:RollPI</string>
|
||||
<string>element:ILimit</string>
|
||||
<string>haslimits:no</string>
|
||||
@ -23947,7 +23947,7 @@ border-radius: 5;</string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>objname:StabilizationSettingsBank1</string>
|
||||
<string>fieldname:YawRatePID</string>
|
||||
<string>element:ILimit</string>
|
||||
<string>haslimits:no</string>
|
||||
|
@ -60,6 +60,10 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
|
||||
$$UAVOBJECT_SYNTHETICS/overosyncsettings.h \
|
||||
$$UAVOBJECT_SYNTHETICS/systemsettings.h \
|
||||
$$UAVOBJECT_SYNTHETICS/stabilizationsettings.h \
|
||||
$$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank1.h \
|
||||
$$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank2.h \
|
||||
$$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank3.h \
|
||||
$$UAVOBJECT_SYNTHETICS/stabilizationbank.h \
|
||||
$$UAVOBJECT_SYNTHETICS/manualcontrolsettings.h \
|
||||
$$UAVOBJECT_SYNTHETICS/manualcontrolcommand.h \
|
||||
$$UAVOBJECT_SYNTHETICS/stabilizationdesired.h \
|
||||
@ -151,6 +155,10 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/overosyncsettings.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/systemsettings.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/stabilizationsettings.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank1.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank2.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank3.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/stabilizationbank.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/manualcontrolsettings.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/manualcontrolcommand.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/stabilizationdesired.cpp \
|
||||
|
23
shared/uavobjectdefinition/stabilizationbank.xml
Normal file
23
shared/uavobjectdefinition/stabilizationbank.xml
Normal file
@ -0,0 +1,23 @@
|
||||
<xml>
|
||||
<object name="StabilizationBank" singleinstance="true" settings="false" category="Control">
|
||||
<description>Currently selected PID bank</description>
|
||||
|
||||
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
|
||||
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
|
||||
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
<logging updatemode="manual" period="0"/>
|
||||
</object>
|
||||
|
||||
</xml>
|
@ -1,18 +1,10 @@
|
||||
<xml>
|
||||
|
||||
<object name="StabilizationSettings" singleinstance="true" settings="true" category="Control">
|
||||
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
|
||||
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
|
||||
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
|
||||
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<!-- Note: The number of elements here must match the number of available flight modes -->
|
||||
<field name="FlightModeMap" units="" type="uint8" elementnames="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,AltitudeVario,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI" defaultvalue="0,0,0,0,0,0,0,0,0,0,0,0,0"/>
|
||||
|
||||
<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
|
||||
<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
|
||||
|
23
shared/uavobjectdefinition/stabilizationsettingsbank1.xml
Normal file
23
shared/uavobjectdefinition/stabilizationsettingsbank1.xml
Normal file
@ -0,0 +1,23 @@
|
||||
<xml>
|
||||
<object name="StabilizationSettingsBank1" singleinstance="true" settings="true" category="Control">
|
||||
<description>Currently selected PID bank</description>
|
||||
|
||||
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
|
||||
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
|
||||
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
<logging updatemode="manual" period="0"/>
|
||||
</object>
|
||||
|
||||
</xml>
|
23
shared/uavobjectdefinition/stabilizationsettingsbank2.xml
Normal file
23
shared/uavobjectdefinition/stabilizationsettingsbank2.xml
Normal file
@ -0,0 +1,23 @@
|
||||
<xml>
|
||||
<object name="StabilizationSettingsBank2" singleinstance="true" settings="true" category="Control">
|
||||
<description>Currently selected PID bank</description>
|
||||
|
||||
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
|
||||
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
|
||||
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
<logging updatemode="manual" period="0"/>
|
||||
</object>
|
||||
|
||||
</xml>
|
23
shared/uavobjectdefinition/stabilizationsettingsbank3.xml
Normal file
23
shared/uavobjectdefinition/stabilizationsettingsbank3.xml
Normal file
@ -0,0 +1,23 @@
|
||||
<xml>
|
||||
<object name="StabilizationSettingsBank3" singleinstance="true" settings="true" category="Control">
|
||||
<description>Currently selected PID bank</description>
|
||||
|
||||
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
|
||||
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
|
||||
|
||||
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
|
||||
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
|
||||
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
<logging updatemode="manual" period="0"/>
|
||||
</object>
|
||||
|
||||
</xml>
|
@ -2,6 +2,7 @@
|
||||
<object name="TxPIDSettings" singleinstance="true" settings="true" category="Control">
|
||||
<description>Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter</description>
|
||||
<field name="UpdateMode" units="option" type="enum" elements="1" options="Never,When Armed,Always" defaultvalue="When Armed"/>
|
||||
<field name="BankNumber" units="" type="uint8" elements="1" defaultvalue="0" limits="%BE:0:3"/>
|
||||
<field name="Inputs" units="channel" type="enum"
|
||||
elementnames="Instance1,Instance2,Instance3"
|
||||
options="Throttle,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5"
|
||||
@ -10,7 +11,7 @@
|
||||
<field name="PIDs" units="option" type="enum"
|
||||
elementnames="Instance1,Instance2,Instance3"
|
||||
options="Disabled,
|
||||
Roll Rate.Kp, Pitch Rate.Kp, Roll+Pitch Rate.Kp, Yaw Rate.Kp,
|
||||
Roll Rate.Kp, Pitch Rate.Kp, Roll+Pitch Rate.Kp, Yaw Rate.Kp,
|
||||
Roll Rate.Ki, Pitch Rate.Ki, Roll+Pitch Rate.Ki, Yaw Rate.Ki,
|
||||
Roll Rate.Kd, Pitch Rate.Kd, Roll+Pitch Rate.Kd, Yaw Rate.Kd,
|
||||
Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,
|
||||
|
Loading…
x
Reference in New Issue
Block a user