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Code Issues Releases Activity

Merge branch 'next' into camera_stabilization

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This commit is contained in:
James Cotton 2011-08-10 21:57:45 -05:00
commit bbe3c1533a
5 changed files with 20 additions and 2 deletions
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5
flight/Modules/Stabilization/stabilization.c
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@ -82,6 +82,7 @@ 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];
@ -335,6 +336,7 @@ static void stabilizationTask(void* parameters)
}
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
(lowThrottleZeroIntegral && stabDesired.Throttle < 0) ||
!shouldUpdate)
{
ZeroPids();
@ -433,6 +435,9 @@ 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

6
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
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@ -230,6 +230,8 @@ void ConfigStabilizationWidget::refreshValues()
m_stabilization->maximumPitch->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH]);
m_stabilization->maximumYaw->setValue(stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW]);
m_stabilization->lowThrottleZeroIntegral->setChecked(
stabData.LowThrottleZeroIntegral == StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE);
}
@ -277,6 +279,10 @@ void ConfigStabilizationWidget::sendStabilizationUpdate()
stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_PITCH] = m_stabilization->maximumPitch->value();
stabData.MaximumRate[StabilizationSettings::MAXIMUMRATE_YAW] = m_stabilization->maximumYaw->value();
stabData.LowThrottleZeroIntegral = m_stabilization->lowThrottleZeroIntegral->isChecked() ?
StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_TRUE :
StabilizationSettings::LOWTHROTTLEZEROINTEGRAL_FALSE;
stabSettings->setData(stabData); // this is atomic
}

7
ground/openpilotgcs/src/plugins/config/stabilization.ui
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@ -629,6 +629,13 @@ When you change one, the other is updated.</string>
</layout>
</widget>
</item>
<item>
<widget class="QCheckBox" name="lowThrottleZeroIntegral">
<property name="text">
<string>Zero the integral when throttle is low</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">

2
ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
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@ -218,8 +218,6 @@ void Telemetry::transactionCompleted(UAVObject* obj, bool success)
transPending = false;
// Send signal
obj->emitTransactionCompleted(success);
// Process new object updates from queue
processObjectQueue();
} else
{
// qDebug() << "Error: received a transaction completed when did not expect it.";

2
shared/uavobjectdefinition/stabilizationsettings.xml
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@ -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"/>