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Code Issues Releases Activity

OP-410 OP-333: Created an Axis-lock setting for stabilization

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This commit is contained in:
James Cotton 2011-06-23 14:51:18 -05:00
parent 0a4bbcc12e
commit c0eff41dc6
3 changed files with 55 additions and 53 deletions
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18
flight/Modules/ManualControl/manualcontrol.c
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@ -373,19 +373,21 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = stab_settings[2]; stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = stab_settings[2];
stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll : stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.RollMax :
0; // this is an invalid mode 0; // this is an invalid mode
; ;
stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch : stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
0; // this is an invalid mode (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.PitchMax :
0; // this is an invalid mode
stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw : stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? fmod(cmd->Yaw * 180.0, 360) : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? fmod(cmd->Yaw * 180.0, 360) :
0; // this is an invalid mode 0; // this is an invalid mode
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle; stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
StabilizationDesiredSet(&stabilization); StabilizationDesiredSet(&stabilization);

6
shared/uavobjectdefinition/manualcontrolsettings.xml
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@ -13,9 +13,9 @@
<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"/> <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 --> <!-- 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" defaultvalue="Attitude,Attitude,Rate"/> <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude,Attitude,Rate"/> <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude,Attitude,Rate"/> <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock" defaultvalue="Attitude,Attitude,Rate"/>
<!-- Note these options values should be identical to those defined in FlightMode --> <!-- 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,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/> <field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>

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