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Code Issues Releases Activity

OP-984 Updated vtolpathfollower to handle PID banks

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This commit is contained in:
Les Newell 2013-12-11 12:05:05 +00:00
parent e4bcd87ddd
commit d625242a45
2 changed files with 4 additions and 2 deletions
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1
flight/modules/Stabilization/stabilization.c
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@ -135,6 +135,7 @@ int32_t StabilizationInitialize()
{ {
// Initialize variables // Initialize variables
StabilizationSettingsInitialize(); StabilizationSettingsInitialize();
StabilizationBankInitialize();
ActuatorDesiredInitialize(); ActuatorDesiredInitialize();
#ifdef DIAG_RATEDESIRED #ifdef DIAG_RATEDESIRED
RateDesiredInitialize(); RateDesiredInitialize();

5
flight/modules/VtolPathFollower/vtolpathfollower.c
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@ -65,6 +65,7 @@
#include "nedaccel.h" #include "nedaccel.h"
#include "stabilizationdesired.h" #include "stabilizationdesired.h"
#include "stabilizationsettings.h" #include "stabilizationsettings.h"
#include "stabilizationbank.h"
#include "systemsettings.h" #include "systemsettings.h"
#include "velocitydesired.h" #include "velocitydesired.h"
#include "velocitystate.h" #include "velocitystate.h"
@ -575,7 +576,7 @@ static void updateVtolDesiredAttitude(bool yaw_attitude)
StabilizationDesiredData stabDesired; StabilizationDesiredData stabDesired;
AttitudeStateData attitudeState; AttitudeStateData attitudeState;
NedAccelData nedAccel; NedAccelData nedAccel;
StabilizationSettingsData stabSettings; StabilizationBankData stabSettings;
SystemSettingsData systemSettings; SystemSettingsData systemSettings;
float northError; float northError;
@ -593,7 +594,7 @@ static void updateVtolDesiredAttitude(bool yaw_attitude)
StabilizationDesiredGet(&stabDesired); StabilizationDesiredGet(&stabDesired);
VelocityDesiredGet(&velocityDesired); VelocityDesiredGet(&velocityDesired);
AttitudeStateGet(&attitudeState); AttitudeStateGet(&attitudeState);
StabilizationSettingsGet(&stabSettings); StabilizationBankGet(&stabSettings);
NedAccelGet(&nedAccel); NedAccelGet(&nedAccel);
float northVel = 0, eastVel = 0, downVel = 0; float northVel = 0, eastVel = 0, downVel = 0;