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Code Issues Releases Activity

LP-603 Make QUATERNION_STABILIZATION optional. It can be harmful when using POIs on multicopter and the desired yaw jumps a lot, suddenly

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This commit is contained in:
Eric Price 2018-10-18 18:56:49 +02:00
parent aba11f0e10
commit f6ec3514b0
2 changed files with 6 additions and 4 deletions
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9
flight/modules/Stabilization/outerloop.c
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@ -28,7 +28,7 @@
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* with this program; if not, write to the Free Software Foundation, In.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
@ -146,8 +146,8 @@ static void stabilizationOuterloopTask()
float local_error[3];
{
#if defined(PIOS_QUATERNION_STABILIZATION)
if (stabSettings.settings.ForceRollPitchDuringYawTransition == STABILIZATIONSETTINGS_FORCEROLLPITCHDURINGYAWTRANSITION_FALSE) {
// Quaternion calculation of error in each axis. Uses more memory.
float rpy_desired[3];
float q_desired[4];
@ -173,8 +173,10 @@ static void stabilizationOuterloopTask()
quat_mult(q_desired, &attitudeState.q1, q_error);
quat_inverse(q_error);
Quaternion2RPY(q_error, local_error);
} else {
#else /* if defined(PIOS_QUATERNION_STABILIZATION) */
{
#endif /* if defined(PIOS_QUATERNION_STABILIZATION) */
// Simpler algorithm for CC, less memory
local_error[0] = stabilizationDesiredAxis[0] - attitudeState.Roll;
local_error[1] = stabilizationDesiredAxis[1] - attitudeState.Pitch;
@ -187,7 +189,6 @@ static void stabilizationOuterloopTask()
} else {
local_error[2] = modulo - 180.0f;
}
#endif /* if defined(PIOS_QUATERNION_STABILIZATION) */
}

1
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -49,6 +49,7 @@
<field name="FlightModeAssistMap" units="" type="enum" options="None,GPSAssist" elements="6" defaultvalue="None,None,None,None,None,None" />
<field name="MeasureBasedDTerm" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="ForceRollPitchDuringYawTransition" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>