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

OP-1516 re-introduce sanity to Acro+

Browse Source
This commit is contained in:
Corvus Corax 2014-10-03 15:44:02 +02:00
parent 17f187468c
commit ac0fccc10a
5 changed files with 9 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/modules/Stabilization/innerloop.c
View File

@ -293,7 +293,7 @@ static void stabilizationInnerloopTask()
StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t]
);
pid_scaler ascaler = create_pid_scaler(t);
float factor = 1.0f - fabsf(stickinput[t]);
float factor = 1.0f - (fabsf(stickinput[t]) * stabSettings.stabBank.AcroInsanityFactor);
ascaler.i *= factor; // this prevents Integral from getting too high while controlled manually
float arate = pid_apply_setpoint(&stabSettings.innerPids[t], &ascaler, rate[t], gyro_filtered[t], dT);
actuatorDesiredAxis[t] = (1.0f - factor) * stickinput[t] + factor * arate;

2
shared/uavobjectdefinition/stabilizationbank.xml
View File

@ -15,6 +15,8 @@
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit"/>
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.5"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>

2
shared/uavobjectdefinition/stabilizationsettingsbank1.xml
View File

@ -15,6 +15,8 @@
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.5"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>

2
shared/uavobjectdefinition/stabilizationsettingsbank2.xml
View File

@ -15,6 +15,8 @@
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.5"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>

2
shared/uavobjectdefinition/stabilizationsettingsbank3.xml
View File

@ -15,6 +15,8 @@
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.5"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>