diff --git a/flight/modules/PathFollower/pathfollower.c b/flight/modules/PathFollower/pathfollower.c index 6399fe6b1..69e3cc7aa 100644 --- a/flight/modules/PathFollower/pathfollower.c +++ b/flight/modules/PathFollower/pathfollower.c @@ -89,12 +89,13 @@ #define DEADBAND_LOW -0.10f // Private types -struct Integrals { - float vel[3]; - float course; - float speed; - float power; - float airspeed; +struct Globals { + struct pid PIDposH[2]; + struct pid PIDposV; + struct pid PIDvel[3]; + struct pid PIDcourse; + struct pid PIDspeed; + struct pid PIDpower; float poiRadius; float vtolEmergencyFallback; bool vtolEmergencyFallbackSwitch; @@ -104,7 +105,7 @@ struct Integrals { // Private variables static DelayedCallbackInfo *pathFollowerCBInfo; static uint32_t updatePeriod = PF_IDLE_UPDATE_RATE_MS; -static struct Integrals i; +static struct Globals global; static PathStatusData pathStatus; static PathDesiredData pathDesired; static FixedWingPathFollowerSettingsData fixedWingPathFollowerSettings; @@ -116,7 +117,7 @@ static float indicatedAirspeedStateBias = 0.0f; // Private functions static void pathFollowerTask(void); -static void resetIntegrals(); +static void resetGlobals(); static void SettingsUpdatedCb(UAVObjEvent *ev); static uint8_t updateAutoPilotByFrameType(); static uint8_t updateAutoPilotFixedWing(); @@ -126,7 +127,7 @@ static float updateCourseBearing(); static float updatePathBearing(); static float updatePOIBearing(); static void processPOI(); -static void updatePathVelocity(float kFF, float kH, float kV, bool limited); +static void updatePathVelocity(float kFF, bool limited); static uint8_t updateFixedDesiredAttitude(); static int8_t updateVtolDesiredAttitude(bool yaw_attitude, float yaw_direction); static void updateFixedAttitude(); @@ -174,7 +175,7 @@ int32_t PathFollowerInitialize() StabilizationBankInitialize(); // reset integrals - resetIntegrals(); + resetGlobals(); // Create object queue pathFollowerCBInfo = PIOS_CALLBACKSCHEDULER_Create(&pathFollowerTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_PATHFOLLOWER, STACK_SIZE_BYTES); @@ -198,7 +199,7 @@ static void pathFollowerTask(void) FlightStatusGet(&flightStatus); if (flightStatus.ControlChain.PathFollower != FLIGHTSTATUS_CONTROLCHAIN_TRUE) { - resetIntegrals(); + resetGlobals(); AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_UNINITIALISED); PIOS_CALLBACKSCHEDULER_Schedule(pathFollowerCBInfo, PF_IDLE_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER); return; @@ -246,7 +247,19 @@ static void pathFollowerTask(void) static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) { FixedWingPathFollowerSettingsGet(&fixedWingPathFollowerSettings); + + pid_configure(&global.PIDcourse, fixedWingPathFollowerSettings.CoursePI.Kp, fixedWingPathFollowerSettings.CoursePI.Ki, 0.0f, fixedWingPathFollowerSettings.CoursePI.ILimit); + pid_configure(&global.PIDspeed, fixedWingPathFollowerSettings.SpeedPI.Kp, fixedWingPathFollowerSettings.SpeedPI.Ki, 0.0f, fixedWingPathFollowerSettings.SpeedPI.ILimit); + pid_configure(&global.PIDpower, fixedWingPathFollowerSettings.PowerPI.Kp, fixedWingPathFollowerSettings.PowerPI.Ki, 0.0f, fixedWingPathFollowerSettings.PowerPI.ILimit); + + VtolPathFollowerSettingsGet(&vtolPathFollowerSettings); + + pid_configure(&global.PIDvel[0], vtolPathFollowerSettings.HorizontalVelPID.Kp, vtolPathFollowerSettings.HorizontalVelPID.Ki, vtolPathFollowerSettings.HorizontalVelPID.Kd, vtolPathFollowerSettings.HorizontalVelPID.ILimit); + pid_configure(&global.PIDvel[1], vtolPathFollowerSettings.HorizontalVelPID.Kp, vtolPathFollowerSettings.HorizontalVelPID.Ki, vtolPathFollowerSettings.HorizontalVelPID.Kd, vtolPathFollowerSettings.HorizontalVelPID.ILimit); + pid_configure(&global.PIDvel[2], vtolPathFollowerSettings.VerticalVelPID.Kp, vtolPathFollowerSettings.VerticalVelPID.Ki, vtolPathFollowerSettings.VerticalVelPID.Kd, vtolPathFollowerSettings.VerticalVelPID.ILimit); + pid_configure(&global.PIDvel[2], vtolPathFollowerSettings.VerticalVelPID.Kp, vtolPathFollowerSettings.VerticalVelPID.Ki, vtolPathFollowerSettings.VerticalVelPID.Kd, vtolPathFollowerSettings.VerticalVelPID.ILimit); + PathDesiredGet(&pathDesired); } @@ -278,18 +291,20 @@ static void airspeedStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) /** * reset integrals */ -static void resetIntegrals() +static void resetGlobals() { - i.vel[0] = 0.0f; - i.vel[1] = 0.0f; - i.vel[2] = 0.0f; - i.course = 0.0f; - i.speed = 0.0f; - i.power = 0.0f; - i.airspeed = 0.0f; - i.poiRadius = 0.0f; - i.vtolEmergencyFallback = 0; - i.vtolEmergencyFallbackSwitch = false; + pid_zero(&global.PIDposH[0]); + pid_zero(&global.PIDposH[1]); + pid_zero(&global.PIDposV); + pid_zero(&global.PIDvel[0]); + pid_zero(&global.PIDvel[1]); + pid_zero(&global.PIDvel[2]); + pid_zero(&global.PIDcourse); + pid_zero(&global.PIDspeed); + pid_zero(&global.PIDpower); + global.poiRadius = 0.0f; + global.vtolEmergencyFallback = 0; + global.vtolEmergencyFallbackSwitch = false; } static uint8_t updateAutoPilotByFrameType() @@ -330,7 +345,10 @@ static uint8_t updateAutoPilotByFrameType() */ static uint8_t updateAutoPilotFixedWing() { - updatePathVelocity(fixedWingPathFollowerSettings.CourseFeedForward, fixedWingPathFollowerSettings.HorizontalPosP, fixedWingPathFollowerSettings.VerticalPosP, true); + pid_configure(&global.PIDposH[0], fixedWingPathFollowerSettings.HorizontalPosP, 0.0f, 0.0f, 0.0f); + pid_configure(&global.PIDposH[1], fixedWingPathFollowerSettings.HorizontalPosP, 0.0f, 0.0f, 0.0f); + pid_configure(&global.PIDposV, fixedWingPathFollowerSettings.VerticalPosP, 0.0f, 0.0f, 0.0f); + updatePathVelocity(fixedWingPathFollowerSettings.CourseFeedForward, true); return updateFixedDesiredAttitude(); } @@ -341,13 +359,19 @@ static uint8_t updateAutoPilotFixedWing() */ static uint8_t updateAutoPilotVtol() { - if (!i.vtolEmergencyFallbackSwitch) { + if (!global.vtolEmergencyFallbackSwitch) { if (vtolPathFollowerSettings.FlyawayEmergencyFallback == VTOLPATHFOLLOWERSETTINGS_FLYAWAYEMERGENCYFALLBACK_ALWAYS) { - updatePathVelocity(vtolPathFollowerSettings.CourseFeedForward, vtolPathFollowerSettings.HorizontalPosP, vtolPathFollowerSettings.VerticalPosP, true); + pid_configure(&global.PIDposH[0], 1.0f, 0.0f, 0.0f, 0.0f); + pid_configure(&global.PIDposH[1], 1.0f, 0.0f, 0.0f, 0.0f); + pid_configure(&global.PIDposV, vtolPathFollowerSettings.VerticalPosPI.Kp, vtolPathFollowerSettings.HorizontalPosPI.Ki, 0.0f, vtolPathFollowerSettings.HorizontalPosPI.ILimit); + updatePathVelocity(vtolPathFollowerSettings.CourseFeedForward, true); updateVtolDesiredAttitudeEmergencyFallback(); return 1; } else { - updatePathVelocity(vtolPathFollowerSettings.CourseFeedForward, vtolPathFollowerSettings.HorizontalPosP, vtolPathFollowerSettings.VerticalPosP, false); + pid_configure(&global.PIDposH[0], vtolPathFollowerSettings.HorizontalPosPI.Kp, vtolPathFollowerSettings.HorizontalPosPI.Ki, 0.0f, vtolPathFollowerSettings.HorizontalPosPI.ILimit); + pid_configure(&global.PIDposH[1], vtolPathFollowerSettings.HorizontalPosPI.Kp, vtolPathFollowerSettings.HorizontalPosPI.Ki, 0.0f, vtolPathFollowerSettings.HorizontalPosPI.ILimit); + pid_configure(&global.PIDposV, vtolPathFollowerSettings.VerticalPosPI.Kp, vtolPathFollowerSettings.HorizontalPosPI.Ki, 0.0f, vtolPathFollowerSettings.HorizontalPosPI.ILimit); + updatePathVelocity(vtolPathFollowerSettings.CourseFeedForward, false); uint8_t result = 1; bool yaw_attitude = true; float yaw = 0.0f; @@ -370,12 +394,15 @@ static uint8_t updateAutoPilotVtol() } result = updateVtolDesiredAttitude(yaw_attitude, yaw); if (!result && (vtolPathFollowerSettings.FlyawayEmergencyFallback == VTOLPATHFOLLOWERSETTINGS_FLYAWAYEMERGENCYFALLBACK_ENABLED || vtolPathFollowerSettings.FlyawayEmergencyFallback == VTOLPATHFOLLOWERSETTINGS_FLYAWAYEMERGENCYFALLBACK_DEBUGTEST)) { - i.vtolEmergencyFallbackSwitch = true; + global.vtolEmergencyFallbackSwitch = true; } return result; } } else { - updatePathVelocity(vtolPathFollowerSettings.CourseFeedForward, vtolPathFollowerSettings.HorizontalPosP, vtolPathFollowerSettings.VerticalPosP, true); + pid_configure(&global.PIDposH[0], 1.0f, 0.0f, 0.0f, 0.0f); + pid_configure(&global.PIDposH[1], 1.0f, 0.0f, 0.0f, 0.0f); + pid_configure(&global.PIDposV, vtolPathFollowerSettings.VerticalPosPI.Kp, vtolPathFollowerSettings.HorizontalPosPI.Ki, 0.0f, vtolPathFollowerSettings.HorizontalPosPI.ILimit); + updatePathVelocity(vtolPathFollowerSettings.CourseFeedForward, true); updateVtolDesiredAttitudeEmergencyFallback(); return 0; } @@ -454,7 +481,7 @@ static float updatePOIBearing() PositionStateData positionState; PositionStateGet(&positionState); - float dT = updatePeriod / 1000.0f; + const float dT = updatePeriod / 1000.0f; float dLoc[3]; float yaw = 0; /*float elevation = 0;*/ @@ -487,7 +514,7 @@ static float updatePOIBearing() **/ static void processPOI() { - float dT = updatePeriod / 1000.0f; + const float dT = updatePeriod / 1000.0f; PositionStateData positionState; @@ -536,14 +563,14 @@ static void processPOI() pathAngle = -(manualControlData.Roll - DEADBAND_LOW) * dT * 300.0f; } else if (manualControlData.Roll >= DEADBAND_LOW && manualControlData.Roll <= DEADBAND_HIGH) { // change radius only when not circling - i.poiRadius = distance + changeRadius; + global.poiRadius = distance + changeRadius; } // don't try to move any closer - if (i.poiRadius >= 3.0f || changeRadius > 0) { + if (global.poiRadius >= 3.0f || changeRadius > 0) { if (fabsf(pathAngle) > 0.0f || fabsf(changeRadius) > 0.0f) { - pathDesired.End.North = poi.North + (i.poiRadius * cosf(DEG2RAD(pathAngle + yaw - 180.0f))); - pathDesired.End.East = poi.East + (i.poiRadius * sinf(DEG2RAD(pathAngle + yaw - 180.0f))); + pathDesired.End.North = poi.North + (global.poiRadius * cosf(DEG2RAD(pathAngle + yaw - 180.0f))); + pathDesired.End.East = poi.East + (global.poiRadius * sinf(DEG2RAD(pathAngle + yaw - 180.0f))); pathDesired.StartingVelocity = 1.0f; pathDesired.EndingVelocity = 0.0f; pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT; @@ -565,7 +592,7 @@ static void processPOI() /** * Compute desired velocity from the current position and path */ -static void updatePathVelocity(float kFF, float kH, float kV, bool limited) +static void updatePathVelocity(float kFF, bool limited) { PositionStateData positionState; @@ -573,10 +600,12 @@ static void updatePathVelocity(float kFF, float kH, float kV, bool limited) VelocityStateData velocityState; VelocityStateGet(&velocityState); + const float dT = updatePeriod / 1000.0f; + // look ahead kFF seconds - float cur[3] = { positionState.North + (velocityState.North * kFF), - positionState.East + (velocityState.East * kFF), - positionState.Down + (velocityState.Down * kFF) }; + float cur[3] = { positionState.North + (velocityState.North * kFF), + positionState.East + (velocityState.East * kFF), + positionState.Down + (velocityState.Down * kFF) }; struct path_status progress; path_progress(&pathDesired, cur, &progress); @@ -606,10 +635,10 @@ static void updatePathVelocity(float kFF, float kH, float kV, bool limited) ; } else { // calculate correction - velocityDesired.North += progress.correction_vector[0] * kH; - velocityDesired.East += progress.correction_vector[1] * kH; + velocityDesired.North += pid_apply(&global.PIDposH[0], progress.correction_vector[0], dT); + velocityDesired.East += pid_apply(&global.PIDposH[1], progress.correction_vector[1], dT); } - velocityDesired.Down += progress.correction_vector[2] * kV; + velocityDesired.Down += pid_apply(&global.PIDposV, progress.correction_vector[2], dT); // update pathstatus pathStatus.error = progress.error; @@ -750,15 +779,6 @@ static uint8_t updateFixedDesiredAttitude() /** * Compute desired thrust command */ - // compute saturated integral error thrust response. Make integral leaky for better performance. Approximately 30s time constant. - if (fixedWingPathFollowerSettings.PowerPI.Ki > 0.0f) { - i.power = boundf(i.power + -descentspeedError * dT, - -fixedWingPathFollowerSettings.PowerPI.ILimit / fixedWingPathFollowerSettings.PowerPI.Ki, - fixedWingPathFollowerSettings.PowerPI.ILimit / fixedWingPathFollowerSettings.PowerPI.Ki - ) * (1.0f - 1.0f / (1.0f + 30.0f / dT)); - } else { - i.power = 0.0f; - } // Compute the cross feed from vertical speed to pitch, with saturation float speedErrorToPowerCommandComponent = boundf( @@ -768,13 +788,12 @@ static uint8_t updateFixedDesiredAttitude() ); // Compute final thrust response - powerCommand = -descentspeedError * fixedWingPathFollowerSettings.PowerPI.Kp + - i.power * fixedWingPathFollowerSettings.PowerPI.Ki + + powerCommand = pid_apply(&global.PIDpower, -descentspeedError, dT) + speedErrorToPowerCommandComponent; // Output internal state to telemetry fixedWingPathFollowerStatus.Error.Power = descentspeedError; - fixedWingPathFollowerStatus.ErrorInt.Power = i.power; + fixedWingPathFollowerStatus.ErrorInt.Power = global.PIDpower.iAccumulator; fixedWingPathFollowerStatus.Command.Power = powerCommand; // set thrust @@ -803,17 +822,9 @@ static uint8_t updateFixedDesiredAttitude() result = 0; } - /** * Compute desired pitch command */ - if (fixedWingPathFollowerSettings.SpeedPI.Ki > 0) { - // Integrate with saturation - i.airspeed = boundf(i.airspeed + airspeedError * dT, - -fixedWingPathFollowerSettings.SpeedPI.ILimit / fixedWingPathFollowerSettings.SpeedPI.Ki, - fixedWingPathFollowerSettings.SpeedPI.ILimit / fixedWingPathFollowerSettings.SpeedPI.Ki); - } - // Compute the cross feed from vertical speed to pitch, with saturation float verticalSpeedToPitchCommandComponent = boundf(-descentspeedError * fixedWingPathFollowerSettings.VerticalToPitchCrossFeed.Kp, -fixedWingPathFollowerSettings.VerticalToPitchCrossFeed.Max, @@ -821,12 +832,10 @@ static uint8_t updateFixedDesiredAttitude() ); // Compute the pitch command as err*Kp + errInt*Ki + X_feed. - pitchCommand = -(airspeedError * fixedWingPathFollowerSettings.SpeedPI.Kp - + i.airspeed * fixedWingPathFollowerSettings.SpeedPI.Ki - ) + verticalSpeedToPitchCommandComponent; + pitchCommand = -pid_apply(&global.PIDspeed, airspeedError, dT) + verticalSpeedToPitchCommandComponent; fixedWingPathFollowerStatus.Error.Speed = airspeedError; - fixedWingPathFollowerStatus.ErrorInt.Speed = i.airspeed; + fixedWingPathFollowerStatus.ErrorInt.Speed = global.PIDspeed.iAccumulator; fixedWingPathFollowerStatus.Command.Speed = pitchCommand; stabDesired.Pitch = boundf(fixedWingPathFollowerSettings.PitchLimit.Neutral + pitchCommand, @@ -869,14 +878,10 @@ static uint8_t updateFixedDesiredAttitude() courseError -= 360.0f; } - i.course = boundf(i.course + courseError * dT * fixedWingPathFollowerSettings.CoursePI.Ki, - -fixedWingPathFollowerSettings.CoursePI.ILimit, - fixedWingPathFollowerSettings.CoursePI.ILimit); - courseCommand = (courseError * fixedWingPathFollowerSettings.CoursePI.Kp + - i.course); + courseCommand = pid_apply(&global.PIDcourse, courseError, dT); fixedWingPathFollowerStatus.Error.Course = courseError; - fixedWingPathFollowerStatus.ErrorInt.Course = i.course; + fixedWingPathFollowerStatus.ErrorInt.Course = global.PIDcourse.iAccumulator; fixedWingPathFollowerStatus.Command.Course = courseCommand; stabDesired.Roll = boundf(fixedWingPathFollowerSettings.RollLimit.Neutral + @@ -1013,7 +1018,7 @@ static bool correctCourse(float *C, float *V, float *F, float s) */ static int8_t updateVtolDesiredAttitude(bool yaw_attitude, float yaw_direction) { - float dT = updatePeriod / 1000.0f; + const float dT = updatePeriod / 1000.0f; uint8_t result = 1; VelocityDesiredData velocityDesired; @@ -1056,28 +1061,17 @@ static int8_t updateVtolDesiredAttitude(bool yaw_attitude, float yaw_direction) // Compute desired north command northError = velocityDesired.North - velocityState.North; - i.vel[0] = boundf(i.vel[0] + northError * dT * vtolPathFollowerSettings.HorizontalVelPI.Ki, - -vtolPathFollowerSettings.HorizontalVelPI.ILimit, - vtolPathFollowerSettings.HorizontalVelPI.ILimit); - northCommand = (northError * vtolPathFollowerSettings.HorizontalVelPI.Kp + i.vel[0] - + velocityDesired.North * vtolPathFollowerSettings.VelocityFeedforward); + northCommand = pid_apply(&global.PIDvel[0], northError, dT) + velocityDesired.North * vtolPathFollowerSettings.VelocityFeedforward; // Compute desired east command - eastError = velocityDesired.East - velocityState.East; - i.vel[1] = boundf(i.vel[1] + eastError * dT * vtolPathFollowerSettings.HorizontalVelPI.Ki, - -vtolPathFollowerSettings.HorizontalVelPI.ILimit, - vtolPathFollowerSettings.HorizontalVelPI.ILimit); - eastCommand = (eastError * vtolPathFollowerSettings.HorizontalVelPI.Kp + i.vel[1] - + velocityDesired.East * vtolPathFollowerSettings.VelocityFeedforward); + eastError = velocityDesired.East - velocityState.East; + eastCommand = pid_apply(&global.PIDvel[1], eastError, dT) + velocityDesired.East * vtolPathFollowerSettings.VelocityFeedforward; // Compute desired down command - downError = velocityDesired.Down - velocityState.Down; + downError = velocityDesired.Down - velocityState.Down; // Must flip this sign - downError = -downError; - i.vel[2] = boundf(i.vel[2] + downError * dT * vtolPathFollowerSettings.VerticalVelPI.Ki, - -vtolPathFollowerSettings.VerticalVelPI.ILimit, - vtolPathFollowerSettings.VerticalVelPI.ILimit); - downCommand = (downError * vtolPathFollowerSettings.VerticalVelPI.Kp + i.vel[2]); + downError = -downError; + downCommand = pid_apply(&global.PIDvel[2], downError, dT); stabDesired.Thrust = boundf(downCommand + vtolPathFollowerSettings.ThrustLimits.Neutral, vtolPathFollowerSettings.ThrustLimits.Min, vtolPathFollowerSettings.ThrustLimits.Max); @@ -1092,22 +1086,22 @@ static int8_t updateVtolDesiredAttitude(bool yaw_attitude, float yaw_direction) if ( // emergency flyaway detection ( // integral already at its limit - vtolPathFollowerSettings.HorizontalVelPI.ILimit - fabsf(i.vel[0]) < 1e-6f || - vtolPathFollowerSettings.HorizontalVelPI.ILimit - fabsf(i.vel[1]) < 1e-6f + vtolPathFollowerSettings.HorizontalVelPID.ILimit - fabsf(global.PIDvel[0].iAccumulator) < 1e-6f || + vtolPathFollowerSettings.HorizontalVelPID.ILimit - fabsf(global.PIDvel[1].iAccumulator) < 1e-6f ) && // angle between desired and actual velocity >90 degrees (by dot product) (velocityDesired.North * velocityState.North + velocityDesired.East * velocityState.East < 0.0f) && // quad is moving at significant speed (during flyaway it would keep speeding up) squaref(velocityState.North) + squaref(velocityState.East) > 1.0f ) { - i.vtolEmergencyFallback += dT; - if (i.vtolEmergencyFallback >= vtolPathFollowerSettings.FlyawayEmergencyFallbackTriggerTime) { + global.vtolEmergencyFallback += dT; + if (global.vtolEmergencyFallback >= vtolPathFollowerSettings.FlyawayEmergencyFallbackTriggerTime) { // after emergency timeout, trigger alarm - everything else is handled by callers // (switch to emergency algorithm, switch to emergency waypoint in pathplanner, alarms, ...) result = 0; } } else { - i.vtolEmergencyFallback = 0.0f; + global.vtolEmergencyFallback = 0.0f; } // Project the north and east command signals into the pitch and roll based on yaw. For this to behave well the @@ -1146,7 +1140,7 @@ static int8_t updateVtolDesiredAttitude(bool yaw_attitude, float yaw_direction) */ static void updateVtolDesiredAttitudeEmergencyFallback() { - float dT = updatePeriod / 1000.0f; + const float dT = updatePeriod / 1000.0f; VelocityDesiredData velocityDesired; VelocityStateData velocityState; @@ -1182,10 +1176,7 @@ static void updateVtolDesiredAttitudeEmergencyFallback() downError = velocityDesired.Down - velocityState.Down; // Must flip this sign downError = -downError; - i.vel[2] = boundf(i.vel[2] + downError * dT * vtolPathFollowerSettings.VerticalVelPI.Ki, - -vtolPathFollowerSettings.VerticalVelPI.ILimit, - vtolPathFollowerSettings.VerticalVelPI.ILimit); - downCommand = (downError * vtolPathFollowerSettings.VerticalVelPI.Kp + i.vel[2]); + downCommand = pid_apply(&global.PIDvel[2], downError, dT); stabDesired.Thrust = boundf(downCommand + vtolPathFollowerSettings.ThrustLimits.Neutral, vtolPathFollowerSettings.ThrustLimits.Min, vtolPathFollowerSettings.ThrustLimits.Max); diff --git a/shared/uavobjectdefinition/fixedwingpathfollowersettings.xml b/shared/uavobjectdefinition/fixedwingpathfollowersettings.xml index 83bc91e25..8a7e5d064 100644 --- a/shared/uavobjectdefinition/fixedwingpathfollowersettings.xml +++ b/shared/uavobjectdefinition/fixedwingpathfollowersettings.xml @@ -15,9 +15,9 @@ - + - + @@ -38,7 +38,7 @@ in relation to vertical speed error (absolute but including crossfeed) --> - + @@ -46,7 +46,7 @@ + defaultvalue="90, 1.0, 0.5, 1.5, 1.0, 1, 0, 1" /> diff --git a/shared/uavobjectdefinition/vtolpathfollowersettings.xml b/shared/uavobjectdefinition/vtolpathfollowersettings.xml index 7da8f9091..fec77cb55 100644 --- a/shared/uavobjectdefinition/vtolpathfollowersettings.xml +++ b/shared/uavobjectdefinition/vtolpathfollowersettings.xml @@ -2,22 +2,22 @@ Settings for the @ref VtolPathFollowerModule - + - - - - + + + + - + - +