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Code Issues Releases Activity

Merge remote-tracking branch 'origin/rodney/OP-1834_disable_piro_comp_in_self_level_modes' into next

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Alessio Morale 2015-04-20 11:58:51 +02:00
commit 9103b4de92
1 changed files with 9 additions and 1 deletions
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10
flight/modules/Stabilization/innerloop.c
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@ -244,6 +244,10 @@ static void stabilizationInnerloopTask()
float dT;
dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
StabilizationStatusOuterLoopData outerLoop;
StabilizationStatusOuterLoopGet(&outerLoop);
bool allowPiroComp = true;
for (t = 0; t < AXES; t++) {
bool reinit = (StabilizationStatusInnerLoopToArray(enabled)[t] != previous_mode[t]);
previous_mode[t] = StabilizationStatusInnerLoopToArray(enabled)[t];
@ -257,6 +261,10 @@ static void stabilizationInnerloopTask()
axis_lock_accum[t] = 0;
}
}
// Any self leveling on roll or pitch must prevent pirouette compensation
if (t < STABILIZATIONSTATUS_INNERLOOP_YAW && StabilizationStatusOuterLoopToArray(outerLoop)[t] != STABILIZATIONSTATUS_OUTERLOOP_DIRECT) {
allowPiroComp = false;
}
switch (StabilizationStatusInnerLoopToArray(enabled)[t]) {
case STABILIZATIONSTATUS_INNERLOOP_VIRTUALFLYBAR:
stabilization_virtual_flybar(gyro_filtered[t], rate[t], &actuatorDesiredAxis[t], dT, reinit, t, &stabSettings.settings);
@ -330,7 +338,7 @@ static void stabilizationInnerloopTask()
}
}
if (stabSettings.stabBank.EnablePiroComp == STABILIZATIONBANK_ENABLEPIROCOMP_TRUE && stabSettings.innerPids[0].iLim > 1e-3f && stabSettings.innerPids[1].iLim > 1e-3f) {
if (allowPiroComp && stabSettings.stabBank.EnablePiroComp == STABILIZATIONBANK_ENABLEPIROCOMP_TRUE && stabSettings.innerPids[0].iLim > 1e-3f && stabSettings.innerPids[1].iLim > 1e-3f) {
// attempted piro compensation - rotate pitch and yaw integrals (experimental)
float angleYaw = DEG2RAD(gyro_filtered[2] * dT);
float sinYaw = sinf(angleYaw);