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Code Issues Releases Activity

OP-1474 Use ActuatorDesiredThrust as default source for TPS

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This commit is contained in:
Stefan Karlsson 2014-09-14 16:08:21 +02:00
parent 959ded99aa
commit bdbe875a90
2 changed files with 3 additions and 3 deletions
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4
flight/modules/Stabilization/innerloop.c
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@ -108,11 +108,11 @@ static float get_pid_scale_source_value()
case STABILIZATIONSETTINGS_THRUSTPIDSCALESOURCE_STABILIZATIONDESIREDTHRUST:
StabilizationDesiredThrustGet(&value);
break;
case STABILIZATIONSETTINGS_THRUSTPIDSCALESOURCE_ACTUATORDESIRETHRUST:
case STABILIZATIONSETTINGS_THRUSTPIDSCALESOURCE_ACTUATORDESIREDTHRUST:
ActuatorDesiredThrustGet(&value);
break;
default:
ManualControlCommandThrottleGet(&value);
ActuatorDesiredThrustGet(&value);
break;
}

2
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -49,7 +49,7 @@
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesireThrust" defaultvalue="ManualControlThrottle" />
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>