rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-17 02:52:12 +01:00
Code Issues Releases Activity

Rename VBar mode to VirtualBar

Browse Source
This commit is contained in:
James Cotton 2012-05-26 10:39:35 -05:00
parent 4c562b88d1
commit bda3f301cb
4 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
flight/Modules/ManualControl/manualcontrol.c
View File

@ -586,7 +586,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VBAR) ? cmd->Roll * stabSettings.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll * stabSettings.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_ROLL] :
0; // this is an invalid mode
;
stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
@ -594,7 +594,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VBAR) ? cmd->Pitch * stabSettings.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch * stabSettings.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_PITCH] :
0; // this is an invalid mode
stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
@ -602,7 +602,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VBAR) ? cmd->Yaw * stabSettings.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw * stabSettings.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_YAW] :
0; // this is an invalid mode
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;

4
flight/Modules/Stabilization/stabilization.c
View File

@ -231,7 +231,7 @@ static void stabilizationTask(void* parameters)
switch(stabDesired.StabilizationMode[i])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_VBAR:
case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
rateDesiredAxis[i] = attitudeDesiredAxis[i];
// Zero attitude and axis lock accumulators
@ -325,7 +325,7 @@ static void stabilizationTask(void* parameters)
actuatorDesiredAxis[i] = bound(command);
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_VBAR:
case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
{
// Track the angle of the virtual flybar which includes a slow decay
vbar_integral[i] = vbar_integral[i] * vbar_decay + gyro_filtered[i] * dT;

6
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -18,9 +18,9 @@
<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
<field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VBar" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VBar" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VBar" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
<!-- Note these options values should be identical to those defined in FlightMode -->
<field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>

2
shared/uavobjectdefinition/stabilizationdesired.xml
View File

@ -6,7 +6,7 @@
<field name="Yaw" units="degrees" type="float" elements="1"/>
<field name="Throttle" units="%" type="float" elements="1"/>
<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VBar"/>
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>