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Code Issues Releases Activity

OP-1474 Make it possible to select axes to scale

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This commit is contained in:
Stefan Karlsson 2014-09-19 10:07:11 +02:00
parent f0c47976a5
commit 9a21eed71e
5 changed files with 37 additions and 2 deletions
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35
flight/modules/Stabilization/innerloop.c
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@ -123,11 +123,42 @@ static float get_pid_scale_source_value()
return value;
}
static bool is_roll_pid_thrust_scaled()
{
uint8_t axes = stabSettings.stabBank.ThrustPIDScaleAxes;
return axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLPITCHYAW ||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLPITCH ||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLYAW ||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLL;
}
static bool is_pitch_pid_thrust_scaled()
{
uint8_t axes = stabSettings.stabBank.ThrustPIDScaleAxes;
return axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLPITCHYAW ||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLPITCH ||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_PITCHYAW ||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_PITCH;
}
static bool is_yaw_pid_thrust_scaled()
{
uint8_t axes = stabSettings.stabBank.ThrustPIDScaleAxes;
return axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLPITCHYAW ||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_ROLLYAW ||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_PITCHYAW ||
axes == STABILIZATIONBANK_THRUSTPIDSCALEAXES_YAW;
}
static int is_pid_thrust_scaled_for_axis(int axis)
{
return stabSettings.stabBank.EnableThrustPIDScaling
&& (axis == 0 // Roll
|| axis == 1); // Pitch
&& ((axis == 0 && is_roll_pid_thrust_scaled())
|| (axis == 1 && is_pitch_pid_thrust_scaled())
|| (axis == 2 && is_yaw_pid_thrust_scaled()));
}
static bool is_p_scaling_enabled()

1
shared/uavobjectdefinition/stabilizationbank.xml
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@ -19,6 +19,7 @@
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />
<field name="ThrustPIDScaleAxes" units="" type="enum" elements="1" options="Roll Pitch Yaw,Roll Pitch,Roll Yaw,Roll,Pitch Yaw,Pitch,Yaw" defaultvalue="Roll Pitch" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>

1
shared/uavobjectdefinition/stabilizationsettingsbank1.xml
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@ -19,6 +19,7 @@
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />
<field name="ThrustPIDScaleAxes" units="" type="enum" elements="1" options="Roll Pitch Yaw,Roll Pitch,Roll Yaw,Roll,Pitch Yaw,Pitch,Yaw" defaultvalue="Roll Pitch" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

1
shared/uavobjectdefinition/stabilizationsettingsbank2.xml
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@ -19,6 +19,7 @@
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />
<field name="ThrustPIDScaleAxes" units="" type="enum" elements="1" options="Roll Pitch Yaw,Roll Pitch,Roll Yaw,Roll,Pitch Yaw,Pitch,Yaw" defaultvalue="Roll Pitch" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

1
shared/uavobjectdefinition/stabilizationsettingsbank3.xml
View File

@ -19,6 +19,7 @@
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />
<field name="ThrustPIDScaleAxes" units="" type="enum" elements="1" options="Roll Pitch Yaw,Roll Pitch,Roll Yaw,Roll,Pitch Yaw,Pitch,Yaw" defaultvalue="Roll Pitch" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>