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Code Issues Releases Activity

[OP-724] Provide generic gimbal type

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This commit is contained in:
Oleg Semyonov 2012-11-29 18:00:46 +02:00
parent 8adc2abd77
commit cc98962c36
3 changed files with 6 additions and 2 deletions
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3
flight/Modules/CameraStab/camerastab.c
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@ -244,6 +244,9 @@ void applyFeedForward(uint8_t index, float dT, float *attitude, CameraStabSettin
float gimbalTypeCorrection = 1.0f;
switch (cameraStab->GimbalType) {
case CAMERASTABSETTINGS_GIMBALTYPE_GENERIC:
// no correction
break;
case CAMERASTABSETTINGS_GIMBALTYPE_YAWROLLPITCH:
if (index == CAMERASTABSETTINGS_INPUT_ROLL) {
float pitch;

3
ground/openpilotgcs/src/plugins/config/camerastabilization.ui
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@ -1300,7 +1300,8 @@ Range: 0-50ms, default is 5.</string>
<property name="toolTip">
<string>Gimbal type
Used to limit feed forward acceleration at extreme angles.</string>
Used to limit feed forward acceleration at extreme angles.
Generic type provides no limit.</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>

2
shared/uavobjectdefinition/camerastabsettings.xml
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@ -8,7 +8,7 @@
<field name="MaxAxisLockRate" units="deg/s" type="float" elements="1" defaultvalue="1"/>
<field name="OutputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
<field name="ResponseTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="GimbalType" units="" type="enum" elements="1" options="Yaw-Roll-Pitch,Yaw-Pitch-Roll" defaultvalue="Yaw-Roll-Pitch"/>
<field name="GimbalType" units="" type="enum" elements="1" options="Generic,Yaw-Roll-Pitch,Yaw-Pitch-Roll" defaultvalue="Generic"/>
<field name="FeedForward" units="" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="MaxAccel" units="units/sec" type="uint16" elements="1" defaultvalue="500"/>
<field name="AccelTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="5"/>