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Code Issues Releases Activity

LP-488 Add AltitudeVario to Autotune

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This commit is contained in:
Laurent Lalanne 2017-03-01 12:18:49 +01:00
parent 556c2e9e99
commit f73dc05029
3 changed files with 8 additions and 2 deletions
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7
flight/modules/AutoTune/autotune.c
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@ -823,7 +823,12 @@ static void UpdateStabilizationDesired(bool doingIdent)
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
}
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
if (systemIdentSettings.ThrustControl == SYSTEMIDENTSETTINGS_THRUSTCONTROL_AUTO) {
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO;
} else {
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL;
}
StabilizationDesiredSet(&stabDesired);
}

2
flight/modules/Stabilization/stabilization.c
View File

@ -148,7 +148,7 @@ static void StabilizationDesiredUpdatedCb(__attribute__((unused)) UAVObjEvent *e
if (t <= 1) {
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_ATTITUDE;
}
// else yaw (other modes don't worry about invalid thrust mode either)
// yaw
else {
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_DIRECT;
}

1
shared/uavobjectdefinition/systemidentsettings.xml
View File

@ -58,6 +58,7 @@
<field name="OuterLoopKpSoftClamp" units="" type="float" elements="1" defaultvalue="6.5" limits="%BE:0:100" description="Setting: Change this to change the outer loop Kp and Ki limiting"/>
<field name="DestinationPidBank" units="bank#" type="uint8" elements="1" defaultvalue="3" limits="%BE:1:3" description="Setting: Which bank the calculated PIDs will be stored in after tuning"/>
<field name="TuningDuration" units="s" type="uint8" elements="1" defaultvalue="60" limits="%BI:0" description="Setting: Duration of the tuning motions (expert)"/>
<field name="ThrustControl" units="" type="enum" elements="1" options="Manual,Auto" defaultvalue="Manual" description="Setting: Manual is direct control and Auto uses AltitudeVario"/>
<!-- SmoothQuickSource: the smooth vs. quick PID selector -->
<!-- 0 = disabled -->
<!-- 10 thru 13 correspond to accessory0 -> accessory3 transmitter knobs -->