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Code Issues Releases Activity

Reenable position hold

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3072 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-03-25 20:17:31 +00:00 committed by peabody124
parent 81269f786e
commit eafcf35fa6
2 changed files with 8 additions and 3 deletions
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9
flight/Modules/Guidance/guidance.c
View File

@ -199,7 +199,7 @@ static void guidanceTask(void *parameters)
positionHoldLast = 1;
}
if(guidanceSettings.GuidanceMode == GUIDANCESETTINGS_GUIDANCEMODE_DUAL_LOOP)
if( manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_POSITIONHOLD )
updateVtolDesiredVelocity();
else
manualSetDesiredVelocity();
@ -302,7 +302,10 @@ static void updateVtolDesiredAttitude()
StabilizationSettingsGet(&stabSettings);
NedAccelGet(&nedAccel);
stabDesired.Yaw = 0; // try and face north
// Testing code - refactor into manual control command
ManualControlCommandData manualControlData;
ManualControlCommandGet(&manualControlData);
stabDesired.Yaw = stabSettings.MaximumRate[STABILIZATIONSETTINGS_MAXIMUMRATE_YAW] * manualControlData.Yaw;
// Compute desired north command
northError = velocityDesired.North - velocityActual.North;
@ -351,7 +354,7 @@ static void updateVtolDesiredAttitude()
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
StabilizationDesiredSet(&stabDesired);
}

2
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -3120,6 +3120,7 @@
65F93D0612EE09290047DB36 /* transparent_comms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = transparent_comms.c; sourceTree = "<group>"; };
65F93D0712EE09290047DB36 /* uavtalk_comms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavtalk_comms.c; sourceTree = "<group>"; };
65F93D0812EE09290047DB36 /* watchdog.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = watchdog.c; sourceTree = "<group>"; };
65FAA03F133B669400F6F5CD /* GTOP_BIN.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = GTOP_BIN.c; sourceTree = "<group>"; };
65FBE14412E7C98100176B5A /* pios_servo_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_servo_priv.h; sourceTree = "<group>"; };
65FC66AA123F30F100B04F74 /* ahrs_timer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_timer.c; path = ../../AHRS/ahrs_timer.c; sourceTree = SOURCE_ROOT; };
65FC66AB123F312A00B04F74 /* ahrs_timer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_timer.h; sourceTree = "<group>"; };
@ -3313,6 +3314,7 @@
650D8E4712DFE16400D05CC9 /* GPS */ = {
isa = PBXGroup;
children = (
65FAA03F133B669400F6F5CD /* GTOP_BIN.c */,
650D8E4812DFE16400D05CC9 /* GPS.c */,
650D8E4912DFE16400D05CC9 /* inc */,
650D8E4C12DFE16400D05CC9 /* NMEA.c */,