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Code Issues Releases Activity

Camera Stabilization: Bound outputs to [-1,1] although this should be redundant

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with checks in actuator.
This commit is contained in:
James Cotton 2011-08-11 14:34:38 -05:00
parent 98346186e3
commit ec4e23aff9
1 changed files with 10 additions and 3 deletions
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13
flight/Modules/CameraStab/camerastab.c
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@ -63,6 +63,7 @@
// Private functions
static void attitudeUpdated(UAVObjEvent* ev);
static float bound(float val);
/**
* Initialise the module, called on startup
@ -112,19 +113,25 @@ static void attitudeUpdated(UAVObjEvent* ev)
// Set output channels
AttitudeActualRollGet(&attitude);
output = (attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL];
output = bound((attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL]);
CameraDesiredRollSet(&output);
AttitudeActualPitchGet(&attitude);
output = (attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH];
output = bound((attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH]);
CameraDesiredPitchSet(&output);
AttitudeActualYawGet(&attitude);
output = (attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW];
output = bound((attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW]);
CameraDesiredYawSet(&output);
}
float bound(float val)
{
return (val > 1) ? 1 :
(val < -1) ? -1 :
val;
}
/**
* @}
*/