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Code Issues Releases Activity

LP-576 Made AxisLock as default for Yaw stabilization in all autonomous modes.

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This commit is contained in:
Laurent Lalanne 2018-02-06 19:38:34 +01:00
parent 4c9c3c202c
commit 938bd7e6fd
5 changed files with 5 additions and 5 deletions
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2
flight/modules/AutoTune/autotune.c
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@ -835,7 +835,7 @@ static void UpdateStabilizationDesired(bool doingIdent)
} else {
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
}
if (systemIdentSettings.ThrustControl == SYSTEMIDENTSETTINGS_THRUSTCONTROL_ALTITUDEVARIO) {

2
flight/modules/PathFollower/pathfollower.cpp
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@ -477,7 +477,7 @@ static void updateFixedAttitude(float *attitude)
stabDesired.Thrust = attitude[3];
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
StabilizationDesiredSet(&stabDesired);
}

2
flight/modules/PathFollower/vtolbrakecontroller.cpp
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@ -289,7 +289,7 @@ int8_t VtolBrakeController::UpdateStabilizationDesired(void)
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
// default thrust mode to cruise control

2
flight/modules/PathFollower/vtolflycontroller.cpp
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@ -341,7 +341,7 @@ void VtolFlyController::UpdateDesiredAttitudeEmergencyFallback()
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
StabilizationDesiredSet(&stabDesired);
}

2
flight/modules/PathFollower/vtolvelocitycontroller.cpp
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@ -180,7 +180,7 @@ int8_t VtolVelocityController::UpdateStabilizationDesired(__attribute__((unused)
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
// default thrust mode to altvario