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Code Issues Releases Activity

Add setting to suppress axis output from Stabilization module until armed and throttle is applied. Useful to keep the tail prop out of the grass while arming a tri.

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Erik Gustavsson 2012-11-25 15:41:28 +01:00 committed by Oleg Semyonov
parent 46533c5a3b
commit dc5394dcf3
2 changed files with 20 additions and 0 deletions
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18
flight/Modules/Stabilization/stabilization.c
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@ -79,6 +79,7 @@ uint8_t max_axislock_rate = 0;
float weak_leveling_kp = 0;
uint8_t weak_leveling_max = 0;
bool lowThrottleZeroIntegral;
bool lowThrottleZeroAxis[3];
float vbar_decay = 0.991f;
struct pid pids[PID_MAX];
@ -357,6 +358,18 @@ static void stabilizationTask(void* parameters)
actuatorDesired.UpdateTime = dT * 1000;
actuatorDesired.Throttle = stabDesired.Throttle;
// Suppress desired output while disarmed or throttle low, for configured axis
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED || stabDesired.Throttle < 0) {
if(lowThrottleZeroAxis[0])
actuatorDesired.Roll = 0;
if(lowThrottleZeroAxis[1])
actuatorDesired.Pitch = 0;
if(lowThrottleZeroAxis[2])
actuatorDesired.Yaw = 0;
}
if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) != FLIGHTMODE_MANUAL) {
ActuatorDesiredSet(&actuatorDesired);
} else {
@ -460,6 +473,11 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
// Whether to zero the PID integrals while throttle is low
lowThrottleZeroIntegral = settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE;
// Whether to suppress (zero) the StabilizationDesired output for each axis while disarmed or throttle is low
lowThrottleZeroAxis[0] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_ROLL] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
lowThrottleZeroAxis[1] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_PITCH] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
lowThrottleZeroAxis[2] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_YAW] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
// The dT has some jitter iteration to iteration that we don't want to
// make thie result unpredictable. Still, it's nicer to specify the constant

2
shared/uavobjectdefinition/stabilizationsettings.xml
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@ -35,6 +35,8 @@
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="LowThrottleZeroAxis" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="FALSE,TRUE" defaultvalue="FALSE,FALSE,FALSE"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>