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Code Issues Releases Activity

OP-1903 Add AccelTau, AccelKp and AccelKi to TxPID

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This commit is contained in:
Steve Evans 2015-05-23 14:00:50 +01:00
parent 97780a2106
commit b2dd03cf23
2 changed files with 21 additions and 1 deletions
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19
flight/modules/TxPID/txpid.c
View File

@ -55,6 +55,7 @@
#include "accessorydesired.h"
#include "manualcontrolcommand.h"
#include "stabilizationsettings.h"
#include "attitudesettings.h"
#ifdef REVOLUTION
#include "altitudeholdsettings.h"
#endif
@ -195,6 +196,10 @@ static void updatePIDs(UAVObjEvent *ev)
}
StabilizationSettingsData stab;
StabilizationSettingsGet(&stab);
AttitudeSettingsData att;
AttitudeSettingsGet(&att);
#ifdef REVOLUTION
AltitudeHoldSettingsData altitude;
AltitudeHoldSettingsGet(&altitude);
@ -203,6 +208,7 @@ static void updatePIDs(UAVObjEvent *ev)
uint8_t needsUpdateBank = 0;
uint8_t needsUpdateStab = 0;
uint8_t needsUpdateAtt = 0;
#ifdef REVOLUTION
uint8_t needsUpdateAltitude = 0;
#endif
@ -365,6 +371,16 @@ static void updatePIDs(UAVObjEvent *ev)
case TXPIDSETTINGS_PIDS_ACROPLUSFACTOR:
needsUpdateBank |= update(&bank.AcroInsanityFactor, value);
break;
case TXPIDSETTINGS_PIDS_ACCELTAU:
needsUpdateAtt |= update(&att.AccelTau, value);
break;
case TXPIDSETTINGS_PIDS_ACCELKP:
needsUpdateAtt |= update(&att.AccelKp, value);
break;
case TXPIDSETTINGS_PIDS_ACCELKI:
needsUpdateAtt |= update(&att.AccelKi, value);
break;
#ifdef REVOLUTION
case TXPIDSETTINGS_PIDS_ALTITUDEPOSKP:
needsUpdateAltitude |= update(&altitude.VerticalPosP, value);
@ -390,6 +406,9 @@ static void updatePIDs(UAVObjEvent *ev)
if (needsUpdateStab) {
StabilizationSettingsSet(&stab);
}
if (needsUpdateAtt) {
AttitudeSettingsSet(&att);
}
#ifdef REVOLUTION
if (needsUpdateAltitude) {
AltitudeHoldSettingsSet(&altitude);

3
shared/uavobjectdefinition/txpidsettings.xml
View File

@ -20,7 +20,8 @@
Roll+Pitch Attitude.Kp, Roll+Pitch Attitude.Ki, Roll+Pitch Attitude.ILimit, Roll+Pitch Attitude.Resp,
Yaw Attitude.Kp, Yaw Attitude.Ki, Yaw Attitude.ILimit, Yaw Attitude.Resp,
Roll.Expo, Pitch.Expo, Roll+Pitch.Expo, Yaw.Expo,
GyroTau,AcroPlusFactor,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta"
GyroTau,AcroPlusFactor,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta,
AccelTau, AccelKp, AccelKi"
defaultvalue="Disabled"/>
<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
<field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>