From f95d29a3b8a6277479624087ab54a222029a6fd3 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Mon, 28 May 2012 12:48:55 +0300 Subject: [PATCH] TxPID: add GyroTau to the list of parameters (OP-637) --- flight/Modules/TxPID/txpid.c | 3 +++ shared/uavobjectdefinition/txpidsettings.xml | 3 ++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/flight/Modules/TxPID/txpid.c b/flight/Modules/TxPID/txpid.c index cff9c1d9e..fd350c0d4 100644 --- a/flight/Modules/TxPID/txpid.c +++ b/flight/Modules/TxPID/txpid.c @@ -275,6 +275,9 @@ static void updatePIDs(UAVObjEvent* ev) case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT: needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value); break; + case TXPIDSETTINGS_PIDS_GYROTAU: + needsUpdate |= update(&stab.GyroTau, value); + break; default: PIOS_Assert(0); } diff --git a/shared/uavobjectdefinition/txpidsettings.xml b/shared/uavobjectdefinition/txpidsettings.xml index bdc05ba33..5b69063e8 100644 --- a/shared/uavobjectdefinition/txpidsettings.xml +++ b/shared/uavobjectdefinition/txpidsettings.xml @@ -16,7 +16,8 @@ Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit, Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp, Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki, - Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit" + Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit, + GyroTau" defaultvalue="Disabled"/>