rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-20 10:54:14 +01:00
Code Issues Releases Activity

Stabilization: Small patch so that by default the integral is zeroed while

Browse Source 
throttle is low (good for quads) but can be disabled (good for planes and also
testing helis).
This commit is contained in:
James Cotton 2011-08-10 03:51:46 -05:00
parent 12ae607a22
commit ab288e95ab
2 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
flight/Modules/Stabilization/stabilization.c
View File

@ -84,6 +84,7 @@ uint8_t max_axis_lock = 0;
uint8_t max_axislock_rate = 0;
float weak_leveling_kp = 0;
uint8_t weak_leveling_max = 0;
bool lowThrottleZeroIntegral;
pid_type pids[PID_MAX];
@ -329,6 +330,7 @@ static void stabilizationTask(void* parameters)
}
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
(lowThrottleZeroIntegral && stabDesired.Throttle < 0) ||
!shouldUpdate)
{
ZeroPids();
@ -427,6 +429,9 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
weak_leveling_kp = settings.WeakLevelingKp;
weak_leveling_max = settings.MaxWeakLevelingRate;
// Whether to zero the PID integrals while throttle is low
lowThrottleZeroIntegral = settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE;
// The dT has some jitter iteration to iteration that we don't want to
// make thie result unpredictable. Still, it's nicer to specify the constant
// based on a time (in ms) rather than a fixed multiplier. The error between

2
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -22,6 +22,8 @@
<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>